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Siemens Sinamics S120 Commissioning Manual

Canopen interface
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  • Page 3 ___________________ Preface Fundamental safety ___________________ instructions ___________________ SINAMICS Add infeed CAN CBC10 Communication ___________________ Board S120 CANopen interface ___________________ Configuration Calculation/conversion ___________________ setpoints/actual values Commissioning Manual ___________________ Diagnosis ___________________ Operating modes ___________________ Appendix Valid for: Firmware version 5.1 11/2017 6SL3097-4AA00-0BP3...
  • Page 4 Note the following: WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems.

  • Page 5: Preface

    Siemens' content, and adapt it for your own machine documentation. Training At the following address (http://www.siemens.com/sitrain), you can find information about SITRAIN (Siemens training on products, systems and solutions for automation and drives). FAQs You can find Frequently Asked Questions in the Service&Support pages under Product Support (https://support.industry.siemens.com/cs/de/en/ps/faq).
  • Page 6 • SINUMERIK 840 Equipment for Machine Tools (Catalog NC 62) • Installation/assembly SINAMICS S120 Manual for Control Units and Additional System Components • SINAMICS S120 Manual for Booksize Power Units • SINAMICS S120 Manual for Booksize Power Units C/D Type •...
  • Page 7 Relevant directives and standards You can obtain an up-to-date list of currently certified components on request from your local Siemens office. If you have any questions relating to certifications that have not yet been completed, please ask your Siemens contact person.
  • Page 8 SINAMICS S devices showing the test symbols fulfill the EMC requirements for Australia and New Zealand. ● Quality systems Siemens AG employs a quality management system that meets the requirements of ISO 9001 and ISO 14001. CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...
  • Page 9 EMC limit values are ensured. Spare parts Spare parts are available on the Internet at the following address (https://www.automation.siemens.com/sow?sap-language=EN). Product maintenance The components are subject to continuous further development within the scope of product maintenance (improvements to robustness, discontinuations of components, etc).
  • Page 10 This document contains recommendations relating to third-party products. Siemens accepts the fundamental suitability of these third-party products. You can use equivalent products from other manufacturers. Siemens does not accept any warranty for the properties of third-party products. Ground symbols Table 2...
  • Page 11 Preface Steps when commissioning a CANopen interface Note This "SINAMICS S120 Commissioning Manual CANopen" describes the steps involved when commissioning a CANopen interface in the SINAMICS drive line-up. This Commissioning Manual supplements the description of "Initial commissioning servo control booksize format" to include a description of the initial commissioning procedure for the CANopen communication interface: •...
  • Page 12 Preface CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...

  • Page 13: Table Of Contents

    Table of contents Preface ..............................5 Fundamental safety instructions ......................17 General safety instructions ..................... 17 Equipment damage due to electric fields or electrostatic discharge ........22 Warranty and liability for application examples ..............23 Industrial security ........................24 Residual risks of power drive systems ..................25 Add infeed ............................
  • Page 14 Table of contents PDO (Process Data Object) ....................67 2.7.1 Parameter ..........................67 2.7.2 Data transmission types ......................68 2.7.3 Number of PDO that can be created..................69 2.7.4 Send and receive message frames for process data ............70 2.7.5 PDO mapping .........................
  • Page 15 Table of contents Diagnosis ............................121 Diagnostics LED "OPT" ......................122 Alarm object (Emergency Object) ..................124 Drive-unit-internal error list ("predefined error field") ............125 Error register ......................... 126 Response in the case of an error ..................127 Operating modes ..........................129 Position-referred operating modes ..................
  • Page 16 Table of contents CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...

  • Page 17: Fundamental Safety Instructions

    Fundamental safety instructions General safety instructions WARNING Electric shock and danger to life due to other energy sources Touching live components can result in death or severe injury. • Only work on electrical devices when you are qualified for this job. •...
  • Page 18 Fundamental safety instructions 1.1 General safety instructions WARNING Electric shock due to equipment damage Improper handling may cause damage to equipment. For damaged devices, hazardous voltages can be present at the enclosure or at exposed components; if touched, this can result in death or severe injury.
  • Page 19 • If you come closer than around 2 m to such components, switch off any radios or mobile phones. • Use the "SIEMENS Industry Online Support App" only on equipment that has already been switched off. CANopen interface...
  • Page 20 Fundamental safety instructions 1.1 General safety instructions WARNING Motor fire in the event of insulation overload There is higher stress on the motor insulation through a ground fault in an IT system. If the insulation fails, it is possible that death or severe injury can occur as a result of smoke and fire.
  • Page 21 Fundamental safety instructions 1.1 General safety instructions WARNING Unexpected movement of machines caused by inactive safety functions Inactive or non-adapted safety functions can trigger unexpected machine movements that may result in serious injury or death. • Observe the information in the appropriate product documentation before commissioning.

  • Page 22: Equipment Damage Due To Electric Fields Or Electrostatic Discharge

    Fundamental safety instructions 1.2 Equipment damage due to electric fields or electrostatic discharge Equipment damage due to electric fields or electrostatic discharge Electrostatic sensitive devices (ESD) are individual components, integrated circuits, modules or devices that may be damaged by either electric fields or electrostatic discharge. NOTICE Equipment damage due to electric fields or electrostatic discharge Electric fields or electrostatic discharge can cause malfunctions through damaged...

  • Page 23: Warranty And Liability For Application Examples

    Fundamental safety instructions 1.3 Warranty and liability for application examples Warranty and liability for application examples The application examples are not binding and do not claim to be complete regarding configuration, equipment or any eventuality which may arise. The application examples do not represent specific customer solutions, but are only intended to provide support for typical tasks.

  • Page 24: Industrial Security

    Siemens’ products and solutions undergo continuous development to make them more secure. Siemens strongly recommends to apply product updates as soon as available and to always use the latest product versions. Use of product versions that are no longer supported, and failure to apply latest updates may increase customer’s exposure to cyber threats.

  • Page 25: Residual Risks Of Power Drive Systems

    Fundamental safety instructions 1.5 Residual risks of power drive systems Residual risks of power drive systems When assessing the machine- or system-related risk in accordance with the respective local regulations (e.g., EC Machinery Directive), the machine manufacturer or system installer must take into account the following residual risks emanating from the control and drive components of a drive system: 1.
  • Page 26 Fundamental safety instructions 1.5 Residual risks of power drive systems 5. Release of environmental pollutants or emissions as a result of improper operation of the system and/or failure to dispose of components safely and correctly 6. Influence of network-connected communication systems, e.g. ripple-control transmitters or data communication via the network For more information about the residual risks of the drive system components, see the relevant sections in the technical user documentation.

  • Page 27: Add Infeed

    Add infeed Previous knowledge To fully understand this Commissioning Manual, you must be familiar with CANopen terminology. You must be familiar with the following standards: SINAMICS with CANopen complies with the following standards: ● CiA 301 (Application Layer and Communication Profile) ●...

  • Page 28: Can Bus Structure For Sinamics

    "send" and "receive", which are used for the transmit and receive message frames during commissioning. ● How a PC on which the STARTER commissioning tool has been installed can be connected via ETHERNET. Figure 2-1 SINAMICS S120 drive line-up with CAN bus CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...

  • Page 29: Canopen Functions That Are Supported

    Add infeed 2.3 CANopen functions that are supported CANopen functions that are supported A SINAMICS drive is a CANopen slave. SINAMICS supports the following CANopen functions: CANopen functions Details Detailed information NMT (network management) Network management (Page 30) Bootup protocol (Page 31) Boot-up Service •...

  • Page 30: Network Management

    Add infeed 2.4 Network management Network management Network management is node oriented and has a master-slave structure. The NMT service can be used to initialize, start, monitor, reset and stop nodes. All NMT services have the COB-ID = 0. The drive unit is an NMT slave. 2.4.1 Overview The following screen shows an example of an CANopen node.

  • Page 31: Bootup Protocol

    Add infeed 2.4 Network management 2.4.2 Bootup protocol After the NMT slave has booted, this protocol signals that the NMT slave has taken on the state "Pre-Operational" after having been in the "Initialization" state. Bootup protocol COB-ID = 700 hex + node ID 1 data byte with the value 0 is transmitted.
  • Page 32 Add infeed 2.4 Network management The NMT services have the following functions: ● Start Remote Node Command for switching from the "Pre-Operational" communication state to "Operational". The drive can only transmit and receive process data in the "Operational" state. ● Stop Remote Node: command for switching from "Pre-Operational"...

  • Page 33: Nmt Services - Error Control Services

    In the case of a CAN communication error, e.g. too many message frame failures, SINAMICS issues fault F08700 with fault value 2 (for details see SINAMICS S120/150 List Manual). The fault is displayed in parameter r0949. The reaction of the drive to the fault is set with p8641.

  • Page 34: Canopen Object Directory

    Add infeed 2.5 CANopen object directory CANopen object directory When the drive objects are initialized, the CANopen objects are initialized in the object directory for the SINAMICS drive line-up (CANopen slave software). Object directory The following diagram shows the distribution of CANopen objects involved in the communications (the values are hexadecimal values): ●...
  • Page 35 Add infeed 2.5 CANopen object directory Figure 2-3 CANopen object directory CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...

  • Page 36: Control Unit Communication Objects Independent Of The Drive

    Add infeed 2.5 CANopen object directory 2.5.1 Control Unit communication objects independent of the drive The following table lists the object directory with the index of the individual drive-independent Control Unit communication objects. The column "SINAMICS parameter" shows the parameter numbers that are assigned to the communication objects for SINAMICS. Table 2- 2 Control Unit communication objects independent of the drive OD index...
  • Page 37 Add infeed 2.5 CANopen object directory OD index Object name SINAMICS Data type Default SDO access (hex) index parameters Mapping values (hex) Number of errors p8611.74 Unsigned32 Control Unit 4B-52 Standard Control p8611.75- Unsigned32 Unit Error Field p8611.82 1005 SYNCH COB ID p8602 Unsigned32 1008...

  • Page 38: Drive-Dependent Communication Objects

    Add infeed 2.5 CANopen object directory OD index Object name SINAMICS Data type Default SDO access (hex) index parameters Mapping values (hex) 1027 Module list – – – – – Number of entries r0102 Unsigned16 – Module ID p0107[0...15] Integer16 1029 Error behavior –...

  • Page 39: Communication Objects Receive Pdo

    Add infeed 2.5 CANopen object directory 2.5.2.1 Communication objects receive PDO The following table lists the object directory with the index of the individual drive-dependent communication objects for the receive PDO of the first drive object: Table 2- 3 Drive-dependent communication objects for receive PDO OD index Subin- Object name...
  • Page 40 Add infeed 2.5 CANopen object directory OD index Subin- Object name SINAMICS Data type Predefined con- SDO access (hex) parameters mapping nection set (hex) 1405 Receive PDO 6 – – – – – communication parameter Largest subindex – Unsigned8 supported COB ID used by p8705.0 Unsigned32...
  • Page 41 Add infeed 2.5 CANopen object directory OD index Subin- Object name SINAMICS Data type Predefined con- SDO access (hex) parameters mapping nection set (hex) 1601 Receive PDO 2 – – – – – mapping parameter Number of mapped – Unsigned8 application objects in PDO PDO mapping for...
  • Page 42 Add infeed 2.5 CANopen object directory OD index Subin- Object name SINAMICS Data type Predefined con- SDO access (hex) parameters mapping nection set (hex) PDO mapping for p8713.1 Unsigned32 60FF hex the second applica- tion object to be mapped PDO mapping for p8713.2 Unsigned32 6071 hex...
  • Page 43 Add infeed 2.5 CANopen object directory OD index Subin- Object name SINAMICS Data type Predefined con- SDO access (hex) parameters mapping nection set (hex) 1606 Receive PDO 7 – – – – – mapping parameter Number of mapped – Unsigned8 application objects in PDO PDO mapping for...

  • Page 44: Communication Objects Send Pdo

    Add infeed 2.5 CANopen object directory 2.5.2.2 Communication objects send PDO The following table lists the object directory with the index of the individual drive-dependent communication objects for the transmit PDO of the first drive object: Table 2- 4 Drive-dependent communication objects for transmit PDO Subindex Object name SINAMICS...
  • Page 45 Add infeed 2.5 CANopen object directory Subindex Object name SINAMICS PDO map- Data type Predefined con- SDO ac- index (hex) parameters ping nection set cess (hex) COB ID used by p8723.0 Unsigned32 480 hex + node ID Transmission type p8723.1 Unsigned8 FE hex Inhibit time...
  • Page 46 Add infeed 2.5 CANopen object directory Subindex Object name SINAMICS PDO map- Data type Predefined con- SDO ac- index (hex) parameters ping nection set cess (hex) Largest subindex – Unsigned8 supported COB ID used by p8727.0 Unsigned32 C000 06E0 hex Transmission type p8727.1 Unsigned8...
  • Page 47 Add infeed 2.5 CANopen object directory Subindex Object name SINAMICS PDO map- Data type Predefined con- SDO ac- index (hex) parameters ping nection set cess (hex) PDO mapping for p8731.2 Unsigned32 the third applica- tion object to be mapped PDO mapping for p8731.3 Unsigned32 the fourth applica-...
  • Page 48 Add infeed 2.5 CANopen object directory Subindex Object name SINAMICS PDO map- Data type Predefined con- SDO ac- index (hex) parameters ping nection set cess (hex) PDO mapping for p8733.3 Unsigned32 the fourth applica- tion object to be mapped 1A04 Transmit PDO 5 –...
  • Page 49 Add infeed 2.5 CANopen object directory Subindex Object name SINAMICS PDO map- Data type Predefined con- SDO ac- index (hex) parameters ping nection set cess (hex) 1A06 Transmit PDO 7 – – – – – mapping parame- Number of mapped –...

  • Page 50: Other Communication Objects

    Add infeed 2.5 CANopen object directory Note The object index range for each additional drive can be determined using r8743. The parameter value corresponds to the drive object ID. The parameter index corresponds to the factor with which the offset 40 hex must be multiplied and added to the basis object. For instance, the drive starts with offset factor 1 from 1840 hex.

  • Page 51: Manufacturer-Specific Objects

    Add infeed 2.5 CANopen object directory OD index Subin- Object name SINAMICS PDO map- Data type Default val- SDO access (hex) parameters ping ues: (hex) 1206 Drive object server – – – – – SDO parameter Number of entries – –...

  • Page 52: Objects To Access Sinamics Parameters

    Add infeed 2.5 CANopen object directory 2.5.3.1 Objects to access SINAMICS parameters Data values of SINAMICS parameters can be accessed using the objects in the range from "2000 hex" to "470F hex" of the object directory via the default SDO server (see Chapter “SDO server (Page 64)”).
  • Page 53 Add infeed 2.5 CANopen object directory Parameter p8630[0…2] Using parameter p8630 indices 0 to 2, you can define the way drive objects are accessed in SINAMICS. The following access methods are available: ● The drive object is selected in p8630[0] –...

  • Page 54: Free Objects

    Add infeed 2.5 CANopen object directory ● A SINAMICS parameter can be an r or p parameter. The manufacturer-specific objects contain the data values for these parameters. ● Depending on the switch position of parameter p8630[0], the data values for the modules can be read or written.

  • Page 55: Canopen Objects Of The Drive Profile Dsp402

    CANopen objects of the drive profile DSP402 Overview The following table lists the object directory with the index of the individual objects for the drives. CANopen for SINAMICS S120 supports the following modes: ● Profile Velocity Mode ● Profile Torque Mode ● Velocity Mode...
  • Page 56 Add infeed 2.5 CANopen object directory OD index Subin- Object name SINAMICS Data type Default SDO ac- (hex) parameters mapping values cess (hex) 67FF – Single device type – Unsigned32 – Factor group 6094 Velocity encoder factor – Unsigned8 Velocity encoder factor nu- p8798[0] Unsigned32 merator...
  • Page 57 Add infeed 2.5 CANopen object directory OD index Subin- Object name SINAMICS Data type Default SDO ac- (hex) parameters mapping values cess (hex) 6048 vl velocity acceleration – Unsigned8 – Delta speed p1082 Unsigned32 – Delta time p1120 Unsigned16 – Note The object index range for each additional drive can be determined using r8743.

  • Page 58: Sdo (Service Data Object)

    Add infeed 2.6 SDO (Service Data Object) SDO (Service Data Object) 2.6.1 General SDO services allow you to access the object directory for the connected drive unit. An SDO connection is a peer-to-peer connection between an SDO client and a server. The drive unit with its object directory is an SDO server (Page 64).
  • Page 59 Add infeed 2.6 SDO (Service Data Object) Multi-DO SINAMICS drive unit with one SDO server With this mapping model, the multi-DO SINAMICS drive unit is mapped via modules with an SDO server (default SDO server). A modular EDS file, without manufacturer-specific CANopen objects, exists for every SINAMICS drive unit.
  • Page 60 Add infeed 2.6 SDO (Service Data Object) Multi-DO SINAMICS drive unit with several EDS files and SDO servers For this mapping model, the multi-DO SINAMICS drive unit is mapped from n+2 EDS files and n+2 SDO servers. Components Explanation n+2 EDS files 1 standard EDS file for CU drive object 1 manufacturer-specific EDS file for the drive object of the Control Unit n manufacturer-specific EDS files for n axes, which support CANopen (with n...

  • Page 61: Eds Files

    There is then an EDS file for each SINAMICS drive unit and one for each SINAMICS drive object, which supports CANopen. You can download EDS files from the following Internet address: Download EDS (http://support.automation.siemens.com/WW/view/de/48802094). CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...
  • Page 62 Add infeed 2.6 SDO (Service Data Object) Overview of EDS Files Figure 2-7 EDS files of the SINAMICS devices CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...
  • Page 63 Add infeed 2.6 SDO (Service Data Object) Multi DO EDS Device-specific EDS without manufacturer-specific objects. File name: "SINAMICS_Gerätename.eds" CANopen objects Name Objects from the communication profile - number range 0x1000 - 0x1FFF: 0x1000 Device Type 0x1001 Error Register 0x1003 Pre-defined error field 0x1005 COB-ID SYNC message 0x1008...

  • Page 64: Sdo Server

    Add infeed 2.6 SDO (Service Data Object) DO manufacturer EDS Drive object-specific EDS with manufacturer-specific objects. File name for CU DO: "SINAMICS_Gerätename_CU.eds" File name for DO: "SINAMICS_DOClassID.eds" CANopen objects Name Specified objects (mandatory) from the communication profile - number range 0x1000 to 0x1FFF: 0x1000 (read only) Device Type 0x1001 (read only)

  • Page 65: Objects Of The Manufacturer-Specific Eds Files

    Add infeed 2.6 SDO (Service Data Object) The n additional SDO servers are used to access the manufacturer-specific objects of the CAN drive object with n = 1 … 8 axes, i.e. to access the EDS files of the category "DO Manufacturer EDS".
  • Page 66 Add infeed 2.6 SDO (Service Data Object) Parameter name Parameter reference CANopen object Power unit temperatures r0037 0x2025 Energy display r0039 0x2027 Command Data Set CDS effective r0050 0x2032 Status word 2 (ZSW2) effective r0053 0x2035 Control word 1 (STW1) effective r0054 0x2036 CU digital inputs, status...

  • Page 67: Pdo (Process Data Object)

    Add infeed 2.7 PDO (Process Data Object) PDO (Process Data Object) PDOs (Process Data Object) are used to transmit process data, which is used for real-time access to selected data. For certain variables, mappings to certain PDOs are preconfigured. The PDOs are linked with entries in the object directory and represent the interface with the drive objects.

  • Page 68: Data Transmission Types

    Add infeed 2.7 PDO (Process Data Object) A maximum of 8 RPDO and 8 TPDO can be configured per logical CANopen device module. The object index range for each additional drive can be determined using r8743. The parameter value corresponds to the drive object ID. The parameter index corresponds to the factor with which the offset 40 hex must be multiplied and added to the basis object.

  • Page 69: Number Of Pdo That Can Be Created

    Add infeed 2.7 PDO (Process Data Object) The SYNC object is sent periodically from the SYNC producer. The SYNC signal represents the basic network cycle. The time interval between 2 SYNC signals is determined by the standard parameter "Communication cycle time". In order to provide real-time access to the CAN bus, the SYNC object has a very high-priority identifier, the factory setting is 80 hex.

  • Page 70: Send And Receive Message Frames For Process Data

    Add infeed 2.7 PDO (Process Data Object) 2.7.4 Send and receive message frames for process data In the SINAMICS drive line-up, the STARTER commissioning tool offers two options for commissioning a CANopen interface: ● Using predefined telegrams ("Predefined Connection Set") and COB IDs. ●...
  • Page 71 Add infeed 2.7 PDO (Process Data Object) Predefined telegrams for SINAMICS The following process data objects are predefined and mapped in the "predefined connection set" in the receive and transmit telegrams for the corresponding drive objects. Each additional drive object begins with an offset of "800 hex". Table 2- 10 Process data objects in the predefined connection set Type...

  • Page 72: Pdo Mapping

    Add infeed 2.7 PDO (Process Data Object) Note For each drive object in the expert list, the process data objects for mapping the telegrams begin as follows: • For receive telegrams starting from parameter p8710 • For transmit telegrams starting from parameter p8730 Users must create the corresponding BICO interconnections of the PZD interface.

  • Page 73: Rpdo Monitoring

    Add infeed 2.7 PDO (Process Data Object) Example The following diagram uses an example to illustrate PDO mapping (values are hexadecimal (e.g. object size "20 hex" = 32 bits)): Figure 2-9 PDO mapping 2.7.6 RPDO monitoring RPDO monitoring (Receive Process Data Object) for process data received via CAN bus is activated by writing the monitoring time (in ms) in p8699.

  • Page 74: Canopen Device State Machine

    Add infeed 2.8 CANopen device state machine CANopen device state machine The CANopen device state machine describes the drive status and the possible drive device status transitions. Each individual status describes a particular internal or external behavior. Depending on the drive device status, only certain transition commands are accepted. The drive device status is changed using a defined CANopen control word (6040 hex/r8795) –...
  • Page 75 Add infeed 2.8 CANopen device state machine States of the CANopen device state machine and their mapping on SINAMICS drives CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...

  • Page 76: Save Parameters Restore Factory Settings

    Add infeed 2.9 Save parameters restore factory settings Save parameters restore factory settings Parameters can be saved and the factory settings restored using the following Control Unit communication objects. ● Parameter save -> communication object 1010 hex ● Restore factory settings -> communication object 1011 hex Parameter save (object 1010 hex).
  • Page 77 Add infeed 2.9 Save parameters restore factory settings Restoring the factory setting of the parameters (object 1011 hex) ● Subindex 0: (1011.0): The number of subindices of this object are shown in this subindex. ● Subindex 1: (1011.1): By writing the ASCII character sequence "daol" - which corresponds to the hexadecimal value "64 61 6F 6C"...

  • Page 78: Can Bus Sampling Time

    Add infeed 2.10 CAN bus sampling time 2.10 CAN bus sampling time The sampling time of the CBC10 can be set with the parameter p8848 "IF2 PZD sampling time". In the factory setting, the sampling time is 4 ms. Asynchronous message frames can be received and sent within a period of 4 ms.

  • Page 79: The Number Of Drives Supported By Can

    Add infeed 2.11 The number of drives supported by CAN 2.11 The number of drives supported by CAN Depending on the requirements placed on the drives, up to 5 axes can be simultaneously controlled – with the factory set sampling times – via the CAN bus. CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...
  • Page 80 Add infeed 2.11 The number of drives supported by CAN CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...

  • Page 81: Can Cbc10 Communication Board

    CAN CBC10 Communication Board Connection The CBC10 is used to connect drives of the SINAMICS S120 drive system to higher-level automation systems with a CAN bus. Figure 3-1 View of CBC10 The CBC10 uses two 9-pin sub D connectors for the connection to the CAN bus system.
  • Page 82 CAN CBC10 Communication Board 3.1 Connection The X451 CAN bus interface has the following socket assignment. Table 3- 1 CAN BUS interface X451 Designation Technical data Reserved CAN_L CAN signal (dominant low) CAN_GND CAN ground Reserved CAN_SHLD Optional shield CAN ground CAN_H CAN signal Reserved...

  • Page 83: Mounting

    CAN CBC10 Communication Board 3.2 Mounting Mounting Mounting and installation steps The CBC10 is mounted in the option slot on Control Unit CU320-2 as follows (see diagram below): 1. Unscrew and remove the protective cover. 2. Insert the CBC10. 3. Fix the CBC10 in place with screws. ①...

  • Page 84: Hardware Settings

    CAN CBC10 Communication Board 3.3 Hardware settings Hardware settings To ensure that data can be transmitted reliably via the CAN bus, switches S1/S2 on the CBC10 must be set accordingly (see table below). Set the following: ● Bus terminating resistor ●...
  • Page 85 CAN CBC10 Communication Board 3.3 Hardware settings Table 3- 3 2-pin SMD DIL switch ID on the compo- Switch Function Switch position Default nent Bus terminating Inactive resistor Active 120 Ω Operation Ground-free with/without operation ground Operation with ground Note A bus terminating resistor must be located at the end of the bus line.
  • Page 86 CAN CBC10 Communication Board 3.3 Hardware settings Grounding the CANopen Control Unit When grounding the CAN cables, the S1 grounding switch connects the CAN ground with the 24 V ground potential of the system. The optional shield (pin 5) and the connector housing are connected with the 24 V ground potential of the system.

  • Page 87: Configuration

    Configuration Overview The following steps must be carried out when configuring the CANopen interface in the SINAMICS drive line-up: 1. Configuring the CANopen interface 2. Configuring the PDO message frames 3. Process data interconnection 4. SDO access, process data 5. PDO access to the infeed CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...

  • Page 88: Configuring The Canopen Interface

    Configuration 4.2 Configuring the CANopen interface Configuring the CANopen interface 4.2.1 Selecting the CBC10 option module With STARTER, you have created a CANopen project OFFLINE. For CANopen, the drive object requires an option module. Procedure 1. Double-click on "Configure drive unit" in the project navigator below the drive unit. The configuration Wizard is then started.
  • Page 89 Configuration 4.2 Configuring the CANopen interface 2. Select the option module "CBC10 (CAN module)". Figure 4-2 Selecting the CBC10 You can change the default setting of the CAN bus address and the data transmission rate at any time. 3. Click on "Next >". CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...

  • Page 90: Configuring The Infeed

    Configuration 4.2 Configuring the CANopen interface 4.2.2 Configuring the infeed Presently, CANopen does not support the infeed. From the perspective of CANopen, it is not necessary to configure the infeed (see Chapter "PDO access to the infeed (Page 114)"). 4.2.3 Configuring a drive CANopen requires the "Extended setpoint channel"...
  • Page 91 Configuration 4.2 Configuring the CANopen interface 3. Click on "Next >". You define the closed-loop control structure of the drive in the next setting area. Figure 4-3 Configuring the closed-loop control structure 4. Activate the "Extended setpoint channel" function module. The control type is emulated in parameter p1300, and corresponds to the CANopen operating modes defined in Chapter Operating modes (Page 129).

  • Page 92: Configuring Cbc10

    Configuration 4.2 Configuring the CANopen interface 4.2.4 Configuring CBC10 4.2.4.1 Parameterizing the transmission properties for Control Unit CU320-2 Precondition You have configured the drive unit with the CBC10 in the STARTER commissioning tool. Procedure 1. In the project navigator, double-click on each of the entries "Control_Unit" > "CAN Option Module"...

  • Page 93: Configuring The Transmission Rate And Can Bus Address

    Configuration 4.2 Configuring the CANopen interface 4.2.4.2 Configuring the transmission rate and CAN bus address Note • Permissible CAN bus addresses are 1...127. • Each change using the address switch p8620 or in the screen form is not effective until POWER ON.
  • Page 94 Configuration 4.2 Configuring the CANopen interface Setting via the "CAN interface" tab in STARTER The transmission rate and the CAN bus address/node ID can be configured in the "CAN interface" tab. 1. Select the "CAN interface" tab. The factory setting for the transmission rate is 20 kbit/s. Figure 4-5 CAN interface 2.
  • Page 95 Configuration 4.2 Configuring the CANopen interface Setting using the address switch on the Control Unit Setting the CAN bus address via the address switch on the Control Unit. Figure 4-6 Example: Bus address via the address switch on the Control Unit CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...

  • Page 96: Configuring The Pdo Message Frames

    Configuration 4.3 Configuring the PDO message frames Configuring the PDO message frames PDO message frames are configured via the expert list using the communication parameters and mapping parameters. The communication parameters and mapping parameters are essentially automatically predefined ("predefined connection set") for each drive object when the CANopen interface is commissioned for the first time.

  • Page 97: Assigning Cob Ids And Mapping Parameters For Free Pdo Mapping

    Configuration 4.3 Configuring the PDO message frames Figure 4-8 COB IDs and mapped process data objects for transmit message frame drive object 1 4.3.1 Assigning COB IDs and mapping parameters for free PDO mapping You have the following options when making the assignment: ●...
  • Page 98 Configuration 4.3 Configuring the PDO message frames Principle procedure in the ONLINE mode 1. Set the COB ID of the RPDO or TPDO in question to "invalid" (e.g.: p8700[0], COB ID of the PDO). 2. Enter the process data objects as mapping parameters into the relevant RPDO or TPDO (for e.g.: from p8710[0], mapped object).
  • Page 99 Configuration 4.3 Configuring the PDO message frames Mapping RPDO2 When you choose the process data object for the control word and the setpoint velocity from the "Objects of the drive profile DSP402" table, this yields the following values, which you enter in parameters p8711[0...3] for RPDO2 mapping (see the "Resulting hexadecimal value"...
  • Page 100 Configuration 4.3 Configuring the PDO message frames Mapping RPDO4 When you choose the process data object for the control word, setpoint velocity and the setpoint torque from the "Objects of the drive profile DSP402" table, this yields the following values, which you enter in parameter p8713[0...3] for RPDO4 mapping (see the "Resulting hexadecimal value"...
  • Page 101 Configuration 4.3 Configuring the PDO message frames Mapping TPDO2 When you choose the process data object for the CBC status word and the setpoint velocity from the "Objects of the drive profile DSP402" table, this yields the following values, which you enter in parameter p8731[0...3] for TPDO2 mapping (see the "Resulting hexadecimal value"...
  • Page 102 Configuration 4.3 Configuring the PDO message frames Mapping TPDO4 When you choose the process data object for the CBC status word and the encoder position actual value from the "Objects of the drive profile DSP402" table, this yields the following values, which you enter in parameter p8733[0...3] for TPDO4 mapping (see the "Resulting hexadecimal value"...

  • Page 103: Process Data Interconnection

    Configuration 4.4 Process data interconnection Process data interconnection After configuring the PDO message frames, the process data buffer must be interconnected using BICO. 1. Read out the image of the mapped process data objects to the PZD receive and PZD send words in the receive and send buffers.
  • Page 104 Configuration 4.4 Process data interconnection Examples Figure 4-9 Image of process data objects in receive buffer CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...

  • Page 105: Interconnecting Process Data For The Pdo Message Frame

    Configuration 4.4 Process data interconnection Figure 4-10 Image of process data objects in send buffer 4.4.2 Interconnecting process data for the PDO message frame The following objects are interconnected with each other: ● SINAMICS source and/or target parameters for the process data objects ●...

  • Page 106: Interconnecting The Receive Buffer

    Configuration 4.4 Process data interconnection 4.4.2.1 Interconnecting the receive buffer For instance, interconnect the following incoming process data for the RPDO message frames: ● Control word (PZD 1) ● Setpoint velocity (PZD 2+3) ● Set torque (PZD 4) Figure 4-11 Excerpt of function diagram: receive buffer CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...
  • Page 107 Configuration 4.4 Process data interconnection Control word (PZD 1, 16 bit) Set r8890 = 1 to interconnect the control word as SINAMICS target parameter. Setpoint velocity (PZD 2+3, 32 bit) The following table shows the parameters for the setpoint velocity, which has to be interconnected with the corresponding source.

  • Page 108: Interconnecting The Transmit Buffer

    Configuration 4.4 Process data interconnection 4.4.2.2 Interconnecting the transmit buffer Interconnect the following process data in the send buffer for TPDO message frames: ● CBC status word (PZD 1) ● Actual velocity (PZD 2+3) ● Actual torque (PZD 4) Figure 4-12 Excerpt of function diagram: send buffer CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...
  • Page 109 Configuration 4.4 Process data interconnection CBC status word (PZD 1, 16 bit) For the CBC status word, the target parameter p8851[0] must be interconnected with the source parameter r8784: Table 4- 11 Interconnecting the CBC status word Target (sink) Source Meaning PZD 1 p8851[0]...

  • Page 110: Sdo Access, Process Data

    Configuration 4.5 SDO access, process data SDO access, process data 4.5.1 Standardized CANopen PZD objects Accessing standardized objects (number range 0x6000 - 0x67FF) When commissioning, as user you have the responsibility for selecting the appropriate access type and the BICO interconnection. PDO access PDO access to mapped standardized CANopen-PZD objects is realized via the BICO interconnection of the corresponding PZD interface parameter.
  • Page 111 Configuration 4.5 SDO access, process data Figure 4-13 Access to standardized CANopen-PZD setpoint objects Figure 4-14 Access to standardized CANopen-PZD actual value objects CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...

  • Page 112: Free Canopen Pzd Objects

    Configuration 4.5 SDO access, process data 4.5.2 Free CANopen PZD objects Access to free CANopen PZD objects (number range 0x5800 – 0x58xx) When commissioning, as user you have the responsibility for selecting the appropriate access type and the BICO interconnection. PDO access PDO access to mapped free CANopen-PZD objects is realized via the BICO interconnection of the corresponding PZD interface parameter.
  • Page 113 Configuration 4.5 SDO access, process data Figure 4-15 Access to free PZD setpoint objects Figure 4-16 Access to free PZD actual value objects CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...

  • Page 114: Pdo Access To The Infeed

    Configuration 4.6 PDO access to the infeed PDO access to the infeed Infeed drive objects (e.g. Active Line Modules) do not have their own PDO message frames with the present firmware. However, an infeed unit can be realized using the PDO message frame of a Motor Module with the appropriate BICO interconnection.

  • Page 115: Calculation/Conversion Setpoints/Actual Values

    Calculation/conversion setpoints/actual values Speed setpoint input and evaluation of the speed actual value The CANopen object "Target Velocity 0x60FF" or "Velocity actual value 0x606C" is accessed using PDO or SDO transfer. By default, these CANopen objects are displayed in the unit "increments/second". Note The CANopen object index of a specific drive object is calculated as follows: •...
  • Page 116 Calculation/conversion setpoints/actual values 5.1 Speed setpoint input and evaluation of the speed actual value Speed setpoint with/without encoder ● With encoder The value to be sent to the bus is calculated as follows: If the target velocity should be, e.g.: 3000 rpm, then the following must be sent to the bus to SINAMICS, for an encoder with a pulse number 2048 and a fine resolution of 11: ●...
  • Page 117 Calculation/conversion setpoints/actual values 5.1 Speed setpoint input and evaluation of the speed actual value Speed actual value Speed actual value with/without encoder ● With encoder ● Without encoder Process data interface If the incoming speed setpoint is read in parameter r8863[x], this is formed from the following calculation: In order to see the process value specified via the bus referred to 4000 000 hex in r8863[x], then p2000 must be set to p0311.

  • Page 118: Torque Setpoint Input And Evaluation Of The Torque Actual Value

    Calculation/conversion setpoints/actual values 5.2 Torque setpoint input and evaluation of the torque actual value Torque setpoint input and evaluation of the torque actual value The CANopen object "Target Torque 0x6071" or "Torque actual value 0x6077" is accessed using PDO or SDO transfer. The CANopen objects are displayed as default as per mille (1/1000).
  • Page 119 Calculation/conversion setpoints/actual values 5.2 Torque setpoint input and evaluation of the torque actual value Process data interface If the outgoing torque actual value is read in parameter r8853[x], this is formed from the following calculation: In order to see the process value specified via the bus referred to 4000 hex in r8853[x], then p2003 must be set to r0333.
  • Page 120 Calculation/conversion setpoints/actual values 5.2 Torque setpoint input and evaluation of the torque actual value CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...

  • Page 121: Diagnosis

    Diagnosis CANopen supports a standardized system for detecting, describing, and signaling device states and/or device errors with the following equipment: ● “OPT” diagnostics LED (Page 122) ● Alarm object ("Emergency Object") (Page 124) ● Drive unit internal error list (“predefined error field”) (Page 125) ●...

  • Page 122: Diagnostics Led "Opt

    Diagnosis 6.1 Diagnostics LED "OPT" Diagnostics LED "OPT" The following diagnostics LED "OPT" on the Control Unit CU320-2 indicates the status of the CANopen node at the device. Figure 6-1 Overview of the LEDs on the Control Unit The diagnostics LED "OPT" on the Control Unit, which displays both the module and communication status, provides users with all the required information about the current status of the CBC10.
  • Page 123 Diagnosis 6.1 Diagnostics LED "OPT" Table 6- 2 Diagnostics LED -> green (CANopen RUN LED) RUN LED flashing Status Meaning frequency Single flash Stopped The node is in the "STOPPED" state. Only one NMT communication is possible. Blinking PRE- The node is in the "PRE-OPERATIONAL" state. OPERATIONAL No PDO communication is possible.

  • Page 124: Alarm Object (Emergency Object)

    Diagnosis 6.2 Alarm object (Emergency Object) Alarm object (Emergency Object) Error statuses for each drive unit are signaled via the high-priority 8-byte emergency object (error message). You can find the relevant parameters here: ● In the object directory index 1014 hex (COB ID EMCY) and 1015 hex (inhibit time EMCY) ●...

  • Page 125: Drive-Unit-Internal Error List ("Predefined Error Field")

    Diagnosis 6.3 Drive-unit-internal error list ("predefined error field") Drive-unit-internal error list ("predefined error field") The drive unit internal error list ("predefined error field") can be read via the following objects: ● Object directory index 1003 hex ● SINAMICS parameter p8611 of the Control Unit Fault list This list contains the individual, unacknowledged faults and pending alarms in the CANopen alarm number range F08700 to F08799 diagnosed in a drive unit.

  • Page 126: Error Register

    Diagnosis 6.4 Error register Error register The 1-byte error register can be read via the following objects: ● Object directory index 1001 hex ● SINAMICS parameter r8601 of the Control Unit Error register The register displays any drive unit errors that have occurred and their type. The following table describes the CANopen error register that is evaluated with SINAMICS (in the emergency message frame, bytes 1 and 2).

  • Page 127: Response In The Case Of An Error

    In the case of an error in the CAN communication, e.g. too many message frame failures, fault F(A)08700(2) is signaled (for details see the SINAMICS S120/S150 List Manual). The fault is displayed in parameter r0949. The reaction of the drive to the fault is set with p8641.
  • Page 128 Diagnosis 6.5 Response in the case of an error Example: Setting in the event of a bus fault 1. In the inverter, set the general response to the bus fault using parameter p8641. In order for a reaction to be detected, the p8641 = 0 setting must not be selected. With a bus fault, the CAN master goes to the "Bus OFF"...

  • Page 129: Operating Modes

    Operating modes CANopen supports velocity and torque-referred operating modes – and with deviations to the CANopen standard, also position-referred operating modes: ● Velocity Mode (velocity-related) Simple velocity control with ramps and the relevant objects (e.g. frequency converters or current converters) ●...
  • Page 130 Operating modes Overview of CANopen objects and operating modes Figure 7-1 CANopen objects and operating modes CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...
  • Page 131 Operating modes CANopen object 0x6502 The CANopen object "0x6502 Supported drive modes" indicates which CANopen operating modes can be selected in the corresponding drive units and in the existing commissioning state via the object "0x6060", via SDO and/or via PDO access. CANopen object 0x6060 By writing the CANopen object "0x6060 Modes of operation", the required operating mode can be selected.
  • Page 132 Operating modes Figure 7-2 Accessing operating modes As user, you are responsible when commissioning for selecting the appropriate access type. Access via SDO For an SDO access, a value is written to the object 0x6060 in parameter p1300. You can take the corresponding value from the Figure CANopen objects and operating modes (Page 130).
  • Page 133 Operating modes The value of parameter r8762 is formed as follows: Figure 7-3 Operating mode display If the transmission mode of the corresponding TPDO is configured to be asynchronous, when the operating mode has been successfully changed, it is immediately sent, therefore informing the control that the operating mode has been successfully changed.

  • Page 134: Position-Referred Operating Modes

    Operating modes 7.1 Position-referred operating modes Position-referred operating modes In addition to torque and velocity-referred operating modes, with deviations to the CANopen standard, also the position-referred operating modes "Homing Mode" and "Profile Position Mode" can be used. The deviations to the standard are listed below: Deviations for the Homing Mode ●...

  • Page 135: Appendix

    Appendix List of abbreviations Note The following list of abbreviations includes all abbreviations and their meanings used in the entire SINAMICS family of drives. Abbreviation Source of abbreviation Meaning A… Alarm Warning Alternating Current Alternating current Analog Digital Converter Analog digital converter Analog Input Analog input Active Interface Module...
  • Page 136 Appendix A.1 List of abbreviations Capacitance Capacitance C… Safety message Controller Area Network Serial bus system Communication Board CAN Communication Board CAN Communication Board Ethernet PROFINET communication module (Ethernet) Compact Disc Compact disc Command Data Set Command data set CF Card CompactFlash Card CompactFlash card Connector Input...
  • Page 137 Appendix A.1 List of abbreviations DPRAM Dual Ported Random Access Memory Dual-Port Random Access Memory DRIVE-CLiQ DRIVE-CLiQ DRAM Dynamic Random Access Memory Dynamic Random Access Memory DRIVE-CLiQ Drive Component Link with IQ Drive Component Link with IQ Dynamic Servo Control Dynamic Servo Control Doppelsubmodul Double submodule...
  • Page 138 Appendix A.1 List of abbreviations Firmware Firmware Gigabyte Gigabyte Global Control Global control telegram (broadcast telegram) Ground Reference potential for all signal and operating voltages, usually defined as 0 V (also referred to as M) Gerätestammdatei Generic Station Description: Describes the fea- tures of a PROFIBUS slave Gate Supply Voltage Gate supply voltage...
  • Page 139 Appendix A.1 List of abbreviations Kinetische Pufferung Kinetic buffering Proportional gain KTY84 Temperature sensor Symbol for inductance Light Emitting Diode Light emitting diode Linearmotor Linear motor Lageregler Position controller Least Significant Bit Least significant bit Line-Side Converter Line-side converter Line-Side Switch Line-side switch Length Unit Length unit...
  • Page 140 Appendix A.1 List of abbreviations Network Time Protocol Standard for synchronization of the time of day NVRAM Non-Volatile Random Access Memory Non-volatile read/write memory Open Architecture Software component which provides additional functions for the SINAMICS drive system OAIF Open Architecture Interface Version of the SINAMICS firmware as of which the OA application can be used OASP...
  • Page 141 Appendix A.1 List of abbreviations Pulse Width Modulation Pulse width modulation Prozessdaten Process data r… Display parameters (read-only) Random Access Memory Memory for reading and writing RCCB Residual Current Circuit Breaker Residual current operated circuit breaker Residual Current Device Residual current device Residual Current Monitor Residual current monitor Reluctance motor textile...
  • Page 142 Safe stop Safety Integrated Safety Integrated Safety Info Channel Safety Info Channel Safety Integrity Level Safety Integrity Level SITOP Siemens power supply system Safely-Limited Acceleration Safety limited acceleration Smart Line Module Smart Line Module Safely-Limited Position Safely Limited Position Safely-Limited Speed...
  • Page 143 Appendix A.1 List of abbreviations Transport Layer Security Encryption protocol for secure data transfer (previ- ously SSL) Terminal Module Terminal Module Terre Neutre Grounded three-phase line supply Integral time TPDO Transmit Process Data Object Transmit Process Data Object Time-Sensitive Networking Time-Sensitive Networking Terre Terre Grounded three-phase line supply...

  • Page 144: Documentation Overview

    Appendix A.2 Documentation overview Documentation overview CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...

  • Page 145: Canopen Glossary

    Appendix A.3 CANopen glossary CANopen glossary When using a CANopen profile via the CAN bus, you will encounter the following common terms and abbreviations: CAL (CAN Application Layer) Communication layer above the CAN bus designed for CAN bus applications in open communication systems.
  • Page 146 Appendix A.3 CANopen glossary COB-ID (COB identifier) Each COB can be uniquely identified by means of an identifier, which is part of the COB. CAN specification 2.0A supports up to 2048 COB, which are identified by means of 11-bit identifiers. In this Commissioning Manual, COB IDs are always specified as hexadecimal values.
  • Page 147 Appendix A.3 CANopen glossary OD (object directory) A "database" – or object directory – containing all the objects supported by a drive is defined for each drive unit. The object directory contains: ● Type, description, and serial number of the device ●...
  • Page 148 Appendix A.3 CANopen glossary SYNC (synchronization) SYNC is a special message frame that synchronizes the CAN devices with each other. This message frame has a very high priority. TPDO (transmit PDO) PDO transmitted by the drive (contains the actual position value, for example). Variable All the drive and CANopen functions can be accessed via variables.

  • Page 149: Index

    Index CBC10, 28, 81 Diagnostics LED, 122 Mounting, 83 CiA, 145 Abbreviations, 145 CMS, 145 Actual encoder position value, 109 COB, 145 Actual torque value, 118 COB ID, 146 Actual velocity, 109 COB identifier, 146 Commissioning Access to free PZD objects, 112 Access to standardized PZD objects, 110 Bootup protocol, 31 Configuring transmit and receive message...
  • Page 150 Index Drive profile DS402, 55 Object directory drive profile DS402, 55 Network management (NMT service), 30 DRIVECOM, 146 NMT, 146 Drive-dependent communication objects, 38 State after power up, 31 NMT services, 31 Status diagram, 32 NMT slave, 30 EDS, 146 Node guarding protocol, 33 EDS expansions, 65 Node ID, 146...
  • Page 151 Index Terminology, 145 Terms, 145 Torque setpoint, 118 TPDO, 148 Transmit, 28 Variable, 148 CANopen interface Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3...

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