vacon canopen option board opte6 user manual
Contents
1. Index Sub Description Object Data Type Access PDO Default Unit index Code Mapping value 1011 Restore Default Parameters Array UNSIGNED32 000 Number of Entries RO No 0x4 001 Restore all Default Parame UNSIGNED32 RW No ters 002 Restore Communication UNSIGNED32 RW No Default Parameters 003 Restore Application Default UNSIGNED32 RW No Parameters 004 Restore Bypass parameter set UNSIGNED32 RW No Object 1014h COB ID EMCY 1014 0 COB ID EMCY Variable UNSIGNED32 RW No 0x80 Object 1016h Heartbeat Consumer Entries 1016 Heartbeat Consumer Entries Array UNSIGNED32 000 Number of Entries RO No 0x08 001 Consumer Heartbeat Time 1 UNSIGNED32 RW No 0x0000000 002 Consumer Heartbeat Time 2 UNSIGNED32 RW No 0x0000000 003 Consumer Heartbeat Time 3 UNSIGNED32 RW No 0x0000000 004 Consumer Heartbeat Time 4 UNSIGNED32 RW No 0x0000000 005 Consumer Heartbeat Time 5 UNSIGNED32 RW No 0x0000000 006 Consumer Heartbeat Time 6 UNSIGNED32 RW No 0x0000000 007 Consumer Heartbeat Time 7 UNSIGNED32 RW No 0x0000000 008 Consumer Heartbeat Time 8 UNSIGNED32 RW No 0x0000000 Object 1017h Producer Heartbeat Time 1017 0 Producer Heartbeat Time Variable UNSIGNED16 RW No 0x00000000 Object 1018h Identity Object 1018 Identity Object Record IDENTITY 000 number of entries RO No 0x4 001 Vendor ld UNSIGNED32 RO No 0x90 002 Product Code UNSIGNED32 RO No 003 Revision number UNSIGNED32 RO2. Index Sub Description Object Data Type Access PDO Default Unit index Code Mapping value 1A00 Transmit PDO Mapping Record PDO_MAPPING Parameter 1 000 Number of Entries RW No 0x02 001 Mapping Entry 1 UNSIGNED32 RW No 0x60410010 002 Mapping Entry 2 UNSIGNED32 RW No 0x60440010 003 Mapping Entry 3 UNSIGNED32 RW No 0x00000000 004 Mapping Entry 4 UNSIGNED32 RW No 0x00000000 Object 1A01h Transmit PDO Mapping Parameter 2 1A01 Transmit PDO Mapping Record PDO _MAPPING Parameter 2 000 Number of Entries RW No 0x04 001 Mapping Entry 1 UNSIGNED32 RW No 0x20010410 002 Mapping Entry 2 UNSIGNED32 RW No 0x20010510 003 Mapping Entry 3 UNSIGNED32 RW No 0x20010610 004 Mapping Entry 4 UNSIGNED32 RW No 0x20010710 Object 1A02h Transmit PDO Mapping Parameter 3 1A02 Transmit PDO Mapping Record PDO_MAPPING Parameter 3 000 Number of Entries RW No 0x04 001 Mapping Entry 1 UNSIGNED32 RW No 0x20010810 002 Mapping Entry 2 UNSIGNED32 RW No 0x20010910 003 Mapping Entry 3 UNSIGNED32 RW No 0x20010A10 004 Mapping Entry 4 UNSIGNED32 RW No 0x20010B10 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 54 APPENDIX A OBJECT DICTIONARY 7 2 MANUFACTURER SEGMENT Index Sub Description Object Data Type Access PDO Default Unit index Code Mapping value 2000 FB Processdata In Array UNSIGNED16 000 Number of Entrie
3. Tel 358 0 201 2121 e Fax 358 0 201 212 205 COMMISSIONING VACON 37 5 COMMISSIONING 5 1 OPTE6 PANEL PARAMETERS When OPTE6 board is attached to a drive 3 basic communication parameters will appear on the panel menu The parameters are saved automatically when changed NOTE The parameters are saved into the memory of the frequency controller which must be noted if the board is moved into another drive Table 63 OPTE6 board parameters Index Parameter Min Max Default Description 1 Node ID 1 127 1 Network wide unique identifier for each CANopen device 2 Bitrate 3 8 5 Data signalling rate Should be the same on each node in the same bus 3 Operate Mode 1 2 1 Selection between a CIA 402 drive profile and a manufacturer specific bypass mode Table 64 OPTE6 board monitoring values Index Monitoring value Description A running counter for incoming messages combined CANopen status with node CANopen status see the description below 5 1 1 PARAMETER DESCRIPTIONS CANopen Status indicates the NMT state of CANopen CANopen Status is in the following format NNNNN S where NNNNN is the counter for received messages and S is the CANopen status Table 65 CANopen status Value Description 0 Initialising 4 Stopped 5 Operational 6 Pre operational 7 Reset application 8 Reset communication
4. A r C lt ethemet LED CG D i E D 3024 emf 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 34 OPTE6 LAYOUT AND CONNECTIONS 4 5 PREPARE FOR USE THROUGH FIELDBUS Strip about 15 mm of the fieldbus cable see specification in ch 3 2 and cut off the grey cable shield Remember to do this for both bus cables except for the last device Leave no more than 10 mm of the cable outside the terminal block and strip the cables at about 5 mm to fit in the terminals See picture below 10 5 4 Also strip the cable now at such a distance from the terminal that you can fix it to the frame with the grounding clamp Strip the cable at a maximum length of 15 mm Do not strip the aluminum cable shield ae Gd mmm Then connect the cable to its appropriate terminals on the OPTE6 CANopen 5 option board terminal block Tel 358 0 201 2121 e Fax 358 0 201 212 205 OPTE6 LAYOUT AND CONNECTIONS VACON 35 Using the cable clamp included in the delivery of the drive ground the shield of the CAN cable to the frame of the AC drive NOTE This can be done in all drives if there is no difference in PE potential between the drives However if there is PE potential difference then the shield should be connected to PE only at one point in th
5. Operate Mode is used to change the modes of operation between the velocity mode of the CIA 402 drive profile and the manufacturer specific bypass mode Table 66 Operate mode Value Name Description CIA 402 drive profile velocity 1 Drive Profile mode active 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 38 COMMISSIONING Table 66 Operate mode Manufacturer specific bypass 2 Bypass mode active Figure 10 and Figure 11 describe the outputs when you change the parameter Figure 10 Value changed from Drive Profile to Bypass mode Drive Profile related objects are no more valid Index 0x6060 value is p gt Drive can be controlled only via Process data changed into 1 Bypass mode in 0x2000 and Process data out 0x2001 9386 emf Figure 11 Value changed from Bypass mode into Drive profile Index 0x6060 value is changed Drive Profile related objects are updated into 2 CIA 402 Drive Profile normally Velocity mode 9387 emf Node ID can be set to values 1 127 Bit Rate is used in CANopen communication Regardless of the selected bitrate the bit sample timing is set as close as possible to 87 5 according to the CANopen specification Table 67 The available bit rates Value Bit rate 3 50 kbit s 4 100 kbit s 5 125 kbit s 6 250 kbit s 7 500 kbit s 8 1000 kbit s Tel
6. Tel 358 0 201 2121 e Fax 358 0 201 212 205 CANOPEN OPTION BOARD OPTE6 GENERAL Table 51 Receive PDO 1 communication parameter record VACON 23 0 5 Highest sub index UNSIGNED8 ro 1 0x00000200 id COB ID UNSIGNED32 r w 2 OxFE Transmission type UNSIGNED8 r w 0x1400 3 0x03E8 Inhibit time UNSIGNED16 r w 4 Reserved UNSIGNED8 ro 5 0x0 Event timer UNSIGNED16 r w Table 52 Receive PDO 2 communication parameter record Index Sub index Value Name Data type Access 0 5 Highest sub index UNSIGNED8 ro 1 0x00000300 id COB ID UNSIGNED32 r w 2 OxFE Transmission type UNSIGNED8 r w 0x1401 3 0x03E8 Inhibit time UNSIGNED16 r w 4 Reserved UNSIGNED8 ro 5 0x0 Event timer UNSIGNED16 r w Table 53 Receive PDO 3 communication parameter record Index Sub index Value Name Data type Access 0 5 Highest sub index UNSIGNED8 ro 1 0x00000400 id COB ID UNSIGNED32 r w 2 OxFE Transmission type UNSIGNED8 r w 0x1401 3 0x03E8 Inhibit time UNSIGNED16 r w 4 Reserved UNSIGNED8 ro 5 0x0 Event timer UNSIGNED16 r w Configuration of the transmit PDO mapping when the bypass parameter set is restored is the following Table 54 Transmit PDO 1 mapping entry Index Sub index Value Name Data type Access 0 3 Number of entries UNSIGNED8 r w 1 0x20010110 FB PD Out Offset 0 UNSIGNED32
7. CAN ID LENGTH DATAO DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7 0x700 Node ID 1 0 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 8 CANOPEN OPTION BOARD OPTE6 GENERAL 2 3 1 1 Protocol start remote node Node control protocols The start remote node message sets the node s into operational state See Figure 1 NMT state machine If the node ID in the message is set to 0 the message affects all nodes broadcast Table 3 Start remote node message CAN ID LENGTH DATAO DATA1 DATA2 DATA3 DATA4 DATA5 DATA DATA7 0x0 0x2 0x1 CR Protocol stop remote node The stop remote node message sets the node s into stopped state See Figure 1 NMT state machine If the node ID in the message is set to D the message affects all nodes broadcast When the node is in stopped state it will not answer to SDO or PDO messages Table 4 Stop remote node message CAN ID LENGTH DATAO DATA1 DATA2 DATA3 DATA4 DATA5 DATA DATA7 0x0 0x2 0x2 a Protocol enter pre operational The enter pre operational message sets the nodels into pre operational state See Figure 1 NMT state machine If the node ID in the message is set to 0 the message affects all nodes broadcast When the node is in pre operational state it will not answer to PDO messages Table 5 Enter pre operat
8. 201 2121 e Fax 358 0 201 212 205 CANOPEN OPTION BOARD INTERFACE VACON 43 6 2 8 BYPASS MODE In bypass mode some data defined in the profile is invalid and the drive control is done using raw process data The raw process data arrays are located in the manufacturer specific objects 0x2000 and 0x2001 There are two arrays one for incoming data and one for outgoing data The drive ap plication defines which one is mapped into the process data Table 73 Process data in Index Sub index Name Data type Access 0x2000 0 Number of entries UNSIGNED16 ro 1 PB PD In Offset 0 UNSIGNED16 r w 2 PB PD In Offset 1 UNSIGNED16 r w 3 PB PD In Offset 2 UNSIGNED16 r w 4 PB PD In Offset 3 UNSIGNED16 r w 5 PB PD In Offset 4 UNSIGNED16 r w 6 PB PD In Offset 5 UNSIGNED16 r w 7 PB PD In Offset 6 UNSIGNED16 r w 8 PB PD In Offset 7 UNSIGNED16 r w 9 PB PD In Offset 8 UNSIGNED16 r w 10 PB PD In Offset 9 UNSIGNED16 r w 11 PB PD In Offset 10 UNSIGNED16 r w Table 74 Process data out Index Sub index Name Data type Access 0x2001 0 Number of entris UNSIGNED16 ro 1 FB PD Out Offset 0 UNSIGNED16 ro 2 FB PD Out Offset 1 UNSIGNED16 ro 3 FB PD Out Offset 2 UNSIGNED16 ro 4 FB PD Out Offset 3 UNSIGNED16 ro 5 FB PD Out Offset 4 UNSIGNED16 ro 6 FB PD Out Offset 5 UNSIGNED16 ro 7 FB PD Out Offset 6 UNSIGNED16 ro 8 FB PD Out Offset 7 UNSIGNE
9. 358 0 201 2121 e Fax 358 0 201 212 205 CANOPEN OPTION BOARD INTERFACE VACON 39 6 CANOPEN OPTION BOARD INTERFACE By default the CANopen option board is configured to operate in Drive Profile mode The drive pro file implementation is Velocity Mode which is defined in CiA 402 specification with PDO set for fre quency controller The board can also be configured into Manufacturer specific mode 6 1 SUPPORTED DRIVE MODES Table 68 Drive modes Value Mode name Description The CiA 402 Drive Profile mode where the control 2 Velocity Mode of the drive is done using a control word and speed reference value as specified in the drive profile specification In this mode the Drive control can be done using raw process data which Is exchanged with drive application The drive profile state machine and the related objects become invalid 1 Bypass mode Table 69 Operating mode related objects Index Description 0x6060 Modes of operation 0x6061 Modes of Operation Display 0x6502 Supported Drive Modes 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 40 CANOPEN OPTION BOARD INTERFACE 6 2 VELOCITY MODE The velocity mode is one of the specific modes that CIA 402 Drive Profile defines Common behav iour in all modes are PDS state machine some control and status bits and certain objects 6 2 1 PDS STATE MACHINE The PDS state machine describes
10. If the AC drive is used as a part of a machine the machine manufacturer is responsible for providing the machine with a supply disconnecting device EN 60204 1 Only spare parts delivered by Vacon can be used At power up power brake or fault reset the motor will start immediately if the start signal is active unless the pulse control for Start Stop logic has been selected Furthermore the I O functionalities including start inputs may change if parameters applications or software are changed Disconnect therefore the motor if an unexpected start can cause danger The motor starts automatically after automatic fault reset if the auto restart function is activated See the Application Manual for more detailed information Prior to measurements on the motor or the motor cable disconnect the motor cable from the AC drive Do not touch the components on the circuit boards Static voltage discharge may damage the components Check that the EMC level of the AC drive corresponds to the requirements of your supply network A A A A A A A A A A Tel 358 0 201 2121 e Fax 358 0 201 212 205 SAFETY VACON 5 1 3 EARTHING AND EARTH FAULT PROTECTION A CAUTION The AC drive must always be earthed with an earthing conductor connected to the earthing terminal marked with SS The earth leakage current of the drive exceeds 3 5mA AC According to EN61800 5 1 one or more of the following condition
11. 10 C 40 C As specified in drive specification 40 C 70 C 0 95 non condensing corrosive EN 61800 5 1 2007 5 15 8 Hz 1mm peak 15 8 150 Hz 1G C2 level EN 61800 3 2004 C2 level EN 61800 3 2004 2500 V rms isolation with a less than isolation 10 ns propagation delay 8kV ESD IEC 61000 4 2 Contact Discharge Protection 80V Fault Protection greater than 12V common Mode Range 3 2 Table 60 Technical data of CANopen option board CAN CABLE The recommended cables for installations are 4 wires twisted and a shielded cable with an impedance of 120 Ohm The network topology is a 2 wire bus line that is terminated at both ends by resistors representing the characteristic impedance of the bus line The typical CAN cable impedance is 120 Ohm and so for the termination resistors of 120 Ohm must be used For long networks a higher resistor value must be used 150 300 Ohm Cable length Max bit rate kbit s Max cable resistance mQ m 0 40 m 1000 Max 70 100 m 500 lt 60 500 m 100 lt 40 1km 50 lt 26 Table 61 Bus parameter relation to cable length Tel 358 0 201 2121 e Fax 358 0 201 212 205 CANOPEN OPTION BOARD OPTE6 TECHNICAL DATA VACON 27 3 2 1 ISOLATED GROUND CONNECTION The OPTE6 option board is galvanically isolated In CANopen networks that are completely galvan ically isolat
12. Fax 358 0 201 212 205 CANOPEN OPTION BOARD OPTE6 GENERAL VACON 15 Table 25 PDO mapping parameter record 0 Number of mapped objects in UNSIGNEDS8 vg PDO 0x1600 0x1601 1 1st object to be mapped UNSIGNED32 r w 0x1602 0x1A00 2 2nd object to be mapped UNSIGNED32 r w 0x1A01 0x1A02 3 3rd object to be mapped UNSIGNED32 r w 4 4th object to be mapped UNSIGNED32 r w 2 3 5 SYNC PROTOCOL Sync protocol is used by PDOs when the transmission is synchronous The sync object that is defined by COB ID in the object 0x1005 triggers the transmission of the txPDOs or activates the previously received data of the rxPDO At the default sync message the CAN ID is 0x80 The sync message is a zero length message but optionally it can consist of an 8bit counter Table 26 SYNC message CAN ID LENGTH 0x80 0x0 Table 27 SYNC message with counter CAN ID LENGTH DATAO 0x80 0x1 Counter 2 3 5 1 SYNC with counter When a counter is used in a sync message the PDOs that have a defined sync start value compare the value against the sync message counter The sync producer counter will overflow after it reaches the value defined in its synchronous counter overflow value at the object 0x1019 Also the sync consumer has the object 0x1019 even when the value of itself is ignored When the value of the sync consumer is greater than zero the sync counter handling and expecting
13. No 0x01 004 Serial number UNSIGNED32 RO No Object 1019h Synchronous counter 1019 0 Synchronous counter Variable UNSIGNED8 RW No 0x00000000 Object 1029h Error Behaviour 1029 Error Behaviour Array UNSIGNED8 000 Number of Entries RO No 0x1 001 Communication Error UNSIGNED8 RW No 0x0 Tel 358 0 201 2121 e Fax 358 0 201 212 205 APPENDIX A OBJECT DICTIONARY VACON 51 24 hour support 358 0 201 212 575 e Email vaconfavacon com Index Sub Description Object Data Type Access PDO Default Unit index Code Mapping value 1400 Receive PDO Communiction Record PDO_COMM_PAR Parameter 1 000 Number of Entries RO No 0x05 001 COB ID UNSIGNED32 RW No 0x200 002 Transmission Type UNSIGNED8 RW No OxFE 003 Inhibit Time UNSIGNED16 RW No 0x0 100 us 004 Compatibility Entry UNSIGNED8 RW No 0x00 005 Event Timer UNSIGNED16 RW No 0x0 ms Object 1401h Receive PDO Communication Parameter 2 1401 Receive PDO Communiction Record PDO_COMM_PAR Parameter 2 000 Number of Entries RO No 0x05 001 COB ID UNSIGNED32 RW No 0x80000300 002 Transmission Type UNSIGNED8 RW No OxFE 003 Inhibit Time UNSIGNED16 RW No 0x0 100 us 004 Compatibility Entry UNSIGNED8 RW No 0x00 005 Event Timer UNSIGNED16 RW No 0x0 ms Object 1402h Receive PDO Communication Parameter 3 1402 Receive PDO Communiction Record PDO_COMM_PA
14. Quadruple flash Tel 358 0 201 2121 e Fax 358 0 201 212 205 OPTE6 LAYOUT AND CONNECTIONS VACON 31 4 3 JUMPERS The jumper settings and the ground shielding options of OPTE6 are shown in the Figures 9 and 10 below See the jumper and shield locations on the board in Figure 5 9341 emf Figure 8 CAN bus termination jumper A Termination resistor 120 Ohm connected B and C Notermination resistor 9342 emf Figure 9 CAN shield grounding option A CAN connector pin 3 connected to the drive chassis with a high impedance RC circuit B CAN connector pin 3 connected directly into the chassis C No connection 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 32 OPTE6 LAYOUT AND CONNECTIONS 4 4 INSTALLATION IN VACON 100 Open the cover of the AC drive 9174 emf The relay outputs and other I O terminals may have a dangerous control voltage present even when Vacon 100 is disconnected from mains DANGER Tel 358 0 201 2121 e Fax 358 0 201 212 205 OPTE6 LAYOUT AND CONNECTIONS VACON 33 Open the inner cover to reveal the option board slots C D E See Figure below 3023 emf Install the fieldbus board into slot D or E See figure below NOTE Incompatible boards cannot be installed on Vacon 100 Compatible boards have a slot coding that enable the placing of the board DOOD 00000 11 O
15. UNSIGNED16 r w 4 Reserved UNSIGNED8 ro 5 0x0 Event timer UNSIGNED16 r w 6 0x0 Sync start value UNSIGNED8 w Tel 358 0 201 2121 e Fax 358 0 201 212 205 CANOPEN OPTION BOARD OPTE6 GENERAL Table 58 Transmit PDO 2 communication parameter record VACON 25 Index Sub index Value Name Data type Access 0 6 Highest sub index UNSIGNED8 ro 1 0x00000280 id COB ID UNSIGNED32 r w 2 OxFE Transmission type UNSIGNED8 r w 0x1801 3 0x03E8 Inhibit time UNSIGNED16 r w 4 Reserved UNSIGNED8 ro 5 0x0 Event timer UNSIGNED16 r w 6 0x0 Sync start value UNSIGNED8 w Table 59 Transmit PDO 3 communication parameter record Index Sub index Value Name Data type Access 0 5 Highest sub index UNSIGNED8 ro 1 0x00000400 id COB ID UNSIGNED32 r w 2 OxFE Transmission type UNSIGNED8 r w 0x1802 3 0x03E8 Inhibit time UNSIGNED16 r w 4 Reserved UNSIGNED8 ro 5 0x0 Event timer UNSIGNED16 r w 6 Sync start value UNSIGNED8 w 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 26 3 3 1 GENERAL CANOPEN OPTION BOARD OPTE6 TECHNICAL CANOPEN OPTION BOARD OPTE6 TECHNICAL DATA CAN bus electrical isolation Ambient temperature Storing temperature Humidity Vibration and electrical safety Emission Immunity CAN Interface 500 VDC As specified in drive specification
16. Value Name Data type Access 0x1019 0x00 Synchronous UNSIGNED8S r w counter 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 20 CANOPEN OPTION BOARD OPTE6 GENERAL 2 3 7 5 Error behaviour Error behaviour allows a change in the default error behaviour if there is a communication error Table 42 0x1029 Error behaviour Index Sub index Value Name Data type Access 0 0x01 Number of entries UNSIGNED8 ro 0x1019 1 0x00 Communication error UNSIGNED8 r w Table 43 Error behaviour Value Description 0 Pre operational 1 No change in state 2 Stopped 3 127 Reserved 2 3 8 SAVING AND RESTORING THE OBJECT DICTIONARY CANopen defines a way of restoring the values in an object dictionary to the defaults and saving the values if the modified values must be valid after the power cycle The manufacturer specific bypass configuration can be restored to the object dictionary When the object dictionary is saved the ID of the PDO EMCY or SYNC COB ID does not change with the node ID When the default parameters are used the COB IDs are always calculated according to the node ID 2 3 8 1 Saving the object dictionary To save the object dictionary use the object 0x1010 Store Parameter Field The option board only saves the parameters in the object dictionary with a command Autonomous saving is not supported To save the
17. eee dena 47 6 3 9 FB Processdata EELER eer 47 6 3 10 FB Processdata Output mapping in application 47 6 4 Exception when using bypass mode 48 7 Appendix A Object dictionary ss ssssssssnssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn SEA EE 49 7 4 COMMUNICATION segment ttit tatart tE EAE EEEEEAEAEEEEEEEAEEEEEE EAREN EEEE EEEE renee 49 7 2 Manufacturer Segment 54 7 3 Device Profile Gegment nttEtEEAEAEE EEA EEANEEEE EAR EEE Ernan EE rennene EEE 55 Tel 358 0 201 2121 e Fax 358 0 201 212 205 SAFETY 1 VACON 3 SAFETY This manual contains clearly marked cautions and warnings that are intended for your personal safety and to avoid any unintentional damage to the product or connected appliances Please read the information included in cautions and warnings carefully The cautions and warnings are marked as follows Table 1 Warning signs DANGER Dangerous voltage WARNING or CAUTION Caution Hot surface DANGER The components of the power unit are live when the drive is connected to mains potential Coming into contact with this voltage is extremely dangerous and may cause death or severe injury The motor terminals U V W and the brake resistor terminals are live when the AC drive is connected to mains even if the motor is not running After disconnecting the AC drive from the mains wait until the indicators on the keypad go out if no keypad is attached s
18. life time life time factor x guard time Table 34 0x100D Guard time Index Sub index Value Name Data type Access 0x100D 0x00 Guard time UNSIGNED8 r w 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON e 18 CANOPEN OPTION BOARD OPTE6 GENERAL COB ID EMCY The object defines the emergency message COB ID 2 3 7 Table 35 0x1014 COB ID EMCY Index Sub index Value Name Data type Access 0x100D ae COB ID EMCY UNSIGNED32 r w 2 3 7 1 The device can act as the heartbeat consumer Up to 8 devices can be monitored as defined in the table below If the heartbeat transmission delay of a defined node ID exceeds the heartbeat time Heartbeat Consumer Entries the error behaviour is activated according to the error behaviour object Table 36 0x1014 Heartbeat consumer entries Index Sub index Value Name Data type Access 0 0x0000 0008 COB ID EMCY UNSIGNED32 ro 1 oxoooo ooo0 Consumer heart beat UNSIGNED32 r w time 1 2 oxooo0 0o00 Consumer heart beat UNSIGNED32 r w time 2 3 oxooo0 0o00 Consumer heart beat UNSIGNED32 r w time 3 Consumer heart beat ER 4 oxoooooooo tonsa UNSIGNED32 r w 5 0x0000 0000 Consumer heart beat UNSIGNED32 r w time 5 6 ox0000 0000 Consumer heart beat UNSIGNED32 r w time 6 7 0x0000 0000 Consumer heart beat UNSIGNE
19. parameters in the object dictionary write the value 0x65766173 ASCII save into the sub index by using the SDO protocol Table 44 0x1010 Save parameter field Index Sub index Name Data type Access Highest sub index 0x1010 supported 1 Save all parameters UNSIGNED32 r w UNSIGNED8 ro Tel 358 0 201 2121 e Fax 358 0 201 212 205 CANOPEN OPTION BOARD OPTE6 GENERAL VACON 21 2 3 8 2 Restoring the object dictionary The object values of the object dictionary are restored to defaults by using the object 0x1011 Option board supports restoring only for All parameters sub index 1 and for manufacturer specific Bypass mode defaults sub index 4 To restore parameters write 0x64616F6C ASCII load into the sub index by using the SDO protocol Table 45 0x1011 Restore default parameters Index Sub index Name Data type Access 0 Highest sub index supported UNSIGNED8 ro 1 Restore all default UNSIGNED32 gin parameters Restore communication r w 0x1011 2 default parameters SES 3 Restore application default UNSIGNED32 r w parameters 4 Restore bypass parameter UNSIGNED32 r w set Bypass parameter set is used with a drive that has special applications The bypassed set disables the CIA 402 drive profile and resets the PDO mapping to the vendor specific configuration See chapter Bypass parameter set for more information 2
20. the generic start and stop sequence of the drive and the error be havior The state machine is controlled by the Controlword object and internal events Start Fe transition ES transition Disable voltage witch on disabled SC Disable voltage Disable voltage SCT H 9 sn down fous stop j Automatic transition Shut down ut dow Laun on fonu down Enable Disable operation operation Fault signal Enable operation 9388 emf Figure 12 Power Drive System state machine Control word Bit7 Bit3 Bit2 Bit1 BitO Shutdown 0 x 1 1 0 Switch on 0 0 1 1 1 Switch on enable op 10 1 1 1 1 Disable voltage 0 x x 0 X Quick stop 0 X 0 1 xX Disable operation 0 0 1 1 1 Enable operation 0 1 1 1 1 Fault reset i X xX xX X Tel 358 0 201 2121 e Fax 358 0 201 212 205 CANOPEN OPTION BOARD INTERFACE VACON 41 Status word B Bit5 Bit4 Bit3 Bit2 Bit1 Bu Not ready to switch on Switch on disabled Ready to switch on Switched on Operation enabled Quick stop active Fautl reaction active Fault GO OO OO CH ee 9 ee o zl gt KX Ki mK gt OK ze xj x O gt xX x CO O OO O O O 6 2 2 CONTROLWORD Controlword is used to control the drive operation according to the PDS state machine By default Controlword i
21. 0x1801 2nd txPDO communication parameter record 0x1802 3rd txPDO communication parameter record 0x1A00 1st txPDO mapping parameter record 0x1A01 2nd txPDO mapping parameter record 0x1A02 3rd txPDO mapping parameter record 2 3 4 1 PDO communication parameter record PDO communication parameter record defines the COB id transmission type and how often the PDO is transmitted The fields can be modified during the pre operational state Table 20 PDO communication parameter record Indexes Sub index Name Data type RX PDO TX PDO 0 Highest sub index supported UNSIGNED8 ro ro 1 COB ID UNSIGNED32 r w r w 0x1400 0x1401 2 Transmission type UNSIGNED8 r w r w 0x1402 page 0x1800 3 Inhibit time UNSIGNED16 ro r w 0x1801 4 Reserved UNSIGNED8 ro ro 0x1802 5 Event timer UNSIGNED16 r w r w Not 6 SYNC start value UNSIGNED8 r w available 2 3 4 2 COB ID COB ID determines whether the PDO is valid active and using 11 bit or 29 bit frames troller application and user manual for possible fault codes Table 21 COB ID 31 30 29 28 11 10 0 0x00000 11 bit CAN ID Valid Reserved Frame 29 bit CAN ID Tel 358 0 201 2121 e Fax 358 0 201 212 205 CANOPEN OPTION BOARD OPTE6 GENERAL Table 22 COB ID data fields Bit s Value Description 0 PDO exists enabled valle 1 PDO does not exist disabled Reserved D Not applicable 0 11 bit C
22. 3 8 3 Bypass parameter set Bypass parameter set can be restored to activate direct communication with the application The CIA 402 state machine and the related objects are bypassed The bypass set is used with special drive applications NOTE When the bypass parameter set is restored the COB IDs are calculated according to the table below After the bypass parameter set is used the node ID change does not affect the COB IDs Table 46 Overview of bypass RX PDO configuration Object COBID Size DATAO DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7 0x200 f l RPDO1 6 FB PD in offset 0 FB PD in offset 1 FB PD in offset 2 node ID Rppo2 0 300 8 FB PD in offset 3 EB PD inoffset4 FB PD imoteets FB PD in offset node ID Rppo3 Hl 8 FB PD in offset 7 EB PD in offset8 FB PD in offset9 TBPP in offset node ID 10 Table 47 Overview of bypass TX PDO configuration Object COBID Size DATAO DATA1 DATA2 DATA3 DATA4 DATAS DATA6 DATA7 0x180 TPDO1 6 FB PD in offset 0 FB PD in offset 1 FB PD in offset 2 node ID Tppo2 x280 8 FB PD in offset 3 EB PD inoffset4 FB PD in offset5 FB PD in offset 6 node ID Tppo3 0380 8 FB PD i offset EB PDinoffset8 FBPDinoffsetg TP DiN offset node ID 10 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 22 Configu
23. AN ID valid Frame 1 20 bit CAN ID valid 29 bit CAN ID x 29 bit CAN ID of the CAN extended frame 11 bit CAN ID x 11 bit CAN ID of the CAN base frame 2 3 4 3 Transmission type Table 23 PDO transmission types VACON 13 Value Description ge Ve 0x00 Synchronous acyclic X X 0x01 Synchronous cyclic every sync A X 0x02 Synchronous cyclic every 2na sync A X 0x03 Synchronous cyclic every 3ra sync A X 0x04 Synchronous cyclic every 4th sync A X X4 X 0xF0 Synchronous cyclic every 240th sync X1 X OxF1 Reserved OxFB Reserved OxFC RTR only synchronous X OxFD RTR only Event driven X OxFE Event driven manufacturer specific X X OxFF Event driven device and application profile X X For receive PDO each sync transmission mode equals the same Each sync always activates the latest received PDO value Synchronous means that the PDO is transmitted after the SYNC The CANopen device starts sampling the data with the reception of the SYNC If the transmission mode of the PDO is acyclic the CANopen device gives an internal event the sampling starts with the next SYNC and the PDO is transmitted afterwards If the transmission mode is cyclic the sampling starts with the reception of every SYNC every second SYNC every third SYNC etc depending on the given value and the PDO is transmitted afterwards 24 hour support 358 0 201 212 575
24. D16 ro 9 FB PD Out Offset 8 UNSIGNED16 ro 10 FB PD Out Offset 9 UNSIGNED16 Ro 11 FB PD Out Offset 10 UNSIGNED16 Ro 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 44 CANOPEN OPTION BOARD INTERFACE 6 3 DEFAULT PROCESS DATA APPLICATION MAPPING This chapter describes the default mapping of the OPTE6 process data variables to the application data in the drive It also provides a description of the application data in the drive Please read also the corresponding section of the drive s application manual for additional information Table 75 Process data in Name Mapped Application data FB PD In Offset0 FB Control word PB PD In Offset 1 FB Control word Extension PB PD In Offset 2 FB Speed reference PB PD In Offset 3 FB Process data in 01 PB PD In Offset 4 FB Process data in 02 PB PD In Offset 5 FB Process data in 03 PB PD In Offset 6 FB Process data in 04 PB PD In Offset 7 FB Process data in 05 PB PD In Offset 8 FB Process data in 06 PB PD In Offset 9 FB Process data in 07 PB PD In Offset 10 FB Process data in 08 Table 76 Process data out Name Mapped Application data FB PD Out Offset 0 FB Status Word FB PD Out Offset 1 FB Status Word Extension FB PD Out Offset 2 FB Actual Speed FB PD Out Offset 3 FB Process data out 01 FB PD Out Offset 4 FB Process data out 02 FB PD Ou
25. D32 r w time 7 8 0x0000 0000 oe heartbeat UNSIGNED32 r w Table 37 Consumer heartbeat time entry 31 24 23 16 15 Not used must be zeroes Node ID Heartbeat time Tel 358 0 201 2121 e Fax 358 0 201 212 205 CANOPEN OPTION BOARD OPTE6 GENERAL VACON 19 2 3 7 2 Producer Heartbeat Time Heartbeat producer object consists of the time in milliseconds ms that it takes to transmit the heartbeat message into the network If the value is zero the heartbeat is not used Table 38 0x1017 Producer heartbeat time Index Sub index Value Name Data type Access Producer 0x1017 0x0000 2 UNSIGNED16 r w heartbeat time Table 39 Heartbeat message CAN ID LENGTH DATAO 0x700 node 0x1 Node state 2 3 7 3 Identify Object The object gives information about the option board Table 40 0x1018 Identify object Index Sub index Value Name Data type Access 0 0x04 Number of entries UNSIGNED8 ro 1 0x90 Vendor ID UNSIGNED32 ro 0x1018 2 0x4536 Product code UNSIGNED32 ro 3 Revision number UNSIGNED32 ro 4 Serial number UNSIGNED32 ro 2 3 7 4 Synchronous counter The synchronous counter defines whether a counter is mapped into the SYNC message as well as the highest value the counter can reach 0 disables the sync counter Table 41 0x1019 Synchronous counter Index Sub index
26. GNED32 RW No 0x20000A10 004 Mapping Entry 4 UNSIGNED32 RW No 0x20000B10 Object 1800h Transmit PDO Communication Parameter 1 1800 Transmit PDO Communiction Record PDO COMM PAR Parameter 1 000 Number of Entries RO No 0x06 001 COB ID UNSIGNED32 RW No 0x180 002 Transmission Type UNSIGNED8 RW No OxFE 003 Inhibit Time UNSIGNED16 RW No 0x64 100 us 004 Compatibility Entry UNSIGNED8 RW No 0x00 005 Event Timer UNSIGNED16 RW No 0x0 ms 006 Sync start value UNSIGNED8 RW No 0x0 Object 1801h Transmit PDO Communication Parameter 2 1801 Transmit PDO Communiction Record PDO_COMM_PAR Parameter 2 000 Number of Entries RO No 0x06 001 COB ID UNSIGNED32 RW No 0x80000280 002 Transmission Type UNSIGNED8 RW No OxFE 003 Inhibit Time UNSIGNED16 RW No 0x3E8 100 us 004 Compatibility Entry UNSIGNED8 RW No 0x00 005 Event Timer UNSIGNED16 RW No 0x0 ms 006 Sync start value UNSIGNED8 RW No 0x0 Object 1802h Transmit PDO Communication Parameter 3 1802 Transmit PDO Communiction Record PDO_COMM_PAR Parameter 3 000 Number of Entries RO No 0x06 001 COB ID UNSIGNED32 RW No 0x80000380 002 Transmission Type UNSIGNED8 RW No OxFE 003 Inhibit Time UNSIGNED16 RW No 0x3E8 100 us 004 Compatibility Entry UNSIGNED8 RW No 0x00 005 Event Timer UNSIGNED16 RW No 0x0 ms 006 Sync start value UNSIGNED8 RW No 0x0 Tel 358 0 201 2121 e Fax 358 0 201 212 205 APPENDIX A OBJECT DICTIONARY VACON 53
27. Mode2 Stop mode ramping Stop By Ramp mode 3 STPM1 Stop Mode Stop mode coasting Coasting Stop Mode 2 FRST Fault Reset Request fault reset from drive Request reset from drive 1 DIR Direction Rotation direction Clockwise Counter clockwise 0 STRT Start Stop Start Stop request Stop Run 6 3 2 FB CONTROL WORD EXTENSION GENERAL CONTROL WORD Mapped into FB PD in offset 1 Table 79 FB Control Word Extension 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 BSTAT2 BSTAT1 BFLT Table 80 FB Control Word extension description Bit Name Description 0 1 15 BSTAT2 Bus status Informs bus status into application Status of option board 14 BSTAT1 Bus status Informs bus status into application 13 BFLT Bus fault Request fieldbus fault Generate field bus fault 6 3 3 FB SPEED REFERENCE Mapped into FB PD in offset 2 Table 81 FB Speed Reference 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 FB Speed Reference Table 82 FB Speed reference description Name Description Min Max FB Speed Reference Frequency reference at percentage between 10000 10000 minimum and maximum frequency A negative 100 00 100 00 value means inverted direction 6 3 4 FB PROCESS DATA 1 8 Mapped into FB PD in offset 3 11 24
28. R Parameter 3 000 Number of Entries RO No 0x05 001 COB ID UNSIGNED32 RW No 0x80000400 002 Transmission Type UNSIGNED8 RW No OxFE 003 Inhibit Time UNSIGNED16 RW No 0x0 100 us 004 Compatibility Entry UNSIGNED8 RW No 0x00 005 Event Timer UNSIGNED16 RW No 0x0 ms Object 1600h Receive PDO Mapping Parameter 1 1600 Receive PDO Mapping Param Record PDO_MAPPING eter 1 000 Number of Entries RW No 0x02 001 Mapping Entry 1 UNSIGNED32 RW No 0x60400010 002 Mapping Entry 2 UNSIGNED32 RW No 0x60420010 003 Mapping Entry 3 UNSIGNED32 RW No 0x00000000 004 Mapping Entry 4 UNSIGNED32 RW No 0x00000000 Object 1601h Receive PDO Mapping Parameter 2 1601 Receive PDO Mapping Param Record PDO_MAPPING eter 2 000 Number of Entries RW No 0x04 001 Mapping Entry 1 UNSIGNED32 RW No 0x20000410 002 Mapping Entry 2 UNSIGNED32 RW No 0x20000510 003 Mapping Entry 3 UNSIGNED32 RW No 0x20000610 004 Mapping Entry 4 UNSIGNED32 RW No 0x20000710 APPENDIX A OBJECT DICTIONARY Index Sub Description Object Data Type Access PDO Default Unit index Code Mapping value Object 1602h Receive PDO Mapping Parameter 3 1602 Receive PDO Mapping Param Record PDO_MAPPING eter 3 000 Number of Entries RW No 0x04 001 Mapping Entry 1 UNSIGNED32 RW No 0x20000810 002 Mapping Entry 2 UNSIGNED32 RW No 0x20000910 003 Mapping Entry 3 UNSI
29. T AND CONNECTIONS 4 1 LAYOUT AND CONNECTIONS 9338 emf Figure 5 OPTE6 board layout 1 CAN GND isolated digital ground reference 2 CANL 3 SHIELD shield connector 4 CANH 5 NC No connection 6 Grounding option jumper 7 Bus termination resistor Pin 1 Pin 5 9340 emf Figure 6 CAN connector 24 hour support 358 0 201 212 575 e Email vacon avacon com VACON 29 VACON 30 OPTE6 LAYOUT AND CONNECTIONS CAN connector pinout Pin out CAN GND isolated digital ground reference CAN LO Shield connector CAN HI No connection ol AN amp b i 4 2 LED INDICATIONS 1 2 3 g 9339 emf Figure 7 LED indicators 1 CANopen run led 2 CANopen err led 3 Board status CANopen run led green LED is Description Blinking The CANopen device is in the pre operational state Single flash The CANopen device is in the stopped state ON The CANopen device is in the operational state CANopen err led red LED is Description OFF No error Blinking Invalid configuration At least one of the error counters of the CAN controller has reached or exceeded the warning level too many error frames A guard event NMT slave or NMT master or a heartbeat event heartbeat consumer has occurred An expected PDO was not received before the event timer elapsed ON The CAN controller is bus off Single flash Double flash
30. VACON AC DRIVES CANOPEN OPTION BOARD OPTE6 USER MANUAL VACON DRIVEN BY DRIVES VACON 1 TABLE OF CONTENTS Document DPD01091A Release date 19092013 1 SE OY geeeeteg ege eege eege EES 3 er 3 12 E E 4 dn Earthing and earth fault protection tege geegent 5 2 CANopen option board OPTE6 General nnssnnnnnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nna 6 PA E EE 6 22o C SONWIT E 6 e We E 6 A22 CANOPEN EE 6 2 3 CANopen protocol description 7 CR EE 7 2 3 2 EMCY Opj Ct enun ee eee eer an cer amare a ee wee trv rere areata eee ere ete 10 23 3 SDOPrOtOCO UE 11 Z2 3 4 PDO Protocol sssini ea a eea EE EAEE EAE EES MaE EE REE EREE EED 11 29 9 SYNC PrOtOCOl EE 15 2 3 0 CIE Nee edit e E aa aaa ae aa aet 17 2 3 1 COB ID EMCY EE 18 2 3 8 Saving and restoring the object dicitonar 20 3 CANopen option board OPTE6 technical data cccsssscceeseeeseseeeeeseeseeneeeees 26 DL SIME EE 26 3 2 CAN E 26 3 2 1 Isolated ground connection ccecccceeceeeeceeceeceeneceeceeceeseceeeeecseeceeeeecseseeeeeeeeseseeeeeeseseneaes 27 3 2 2 Recommended cable ca scsiedslitsievedadbieubpedadertcdacs ladccueuneeladktnenedal Gotaivadodeencoumedatel Cauuedate 28 4 OPTES layout and connections s sssssssensnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnmnnn 29 AT Layout amd Connections arseen a aa a FEARNE EE AES lees 29 42 LED Indications E 30 SCH un EE EN 4 4 l stallation E 32 4 5 Prepare for use through fieldb
31. Y message is transmitted with the current value of the error register and the error code is inserted into the pre defined error field list The newest error code is always the first sub index on the error field list When all active errors are cleared an empty EMCY object is transmitted Tel 358 0 201 2121 e Fax 358 0 201 212 205 CANOPEN OPTION BOARD OPTE6 GENERAL VACON 11 If a drive internal fault occurs the MSEF field contains the drive fault code See the frequency controller application and user manual for possible fault codes Table 15 EMCY message CAN ID LENGTH DATAO DATA1 DATA2 DATA3 DATA4 DATAS DATA6 DATA7 0x80 Node ID 0x8 EEC ER MSEF Table 16 EMCY message data fields EEC Emergency error code ER Error register value MSEF Manufacturer specific error code Table 17 EMCY related objects in OD Index Description 0x1001 Error register 0x1003 Pre defined error field list 0x1014 EMCY object COB ID NOTE When a drive internal error occurs the emergency error code is always Generic error 2 3 3 SDO PROTOCOL The Option board contains one SDO server The SDO protocol provides a direct access to the object entries of the object dictionary of the CANopen device Each message is acknowledged by the server The protocol is mostly used to set and read parameters from the object dictionary at the pre op
32. describes Set of bit rates to support Network Management NMT Service data transmission SDO Process data transmission PDO Error message transmission EMCY Node status monitoring heartbeat and node guarding Identity information Parameter saving and restoring Tel 358 0 201 2121 e Fax 358 0 201 212 205 CANOPEN OPTION BOARD OPTE6 GENERAL VACON 7 2 3 CANOPEN PROTOCOL DESCRIPTION 2 3 1 NMT NMT network management manages CANopen and is a mandatory common feature for all devices The protocol describes several node control services and the state machine Power on of Po regel i1 Inttialisatgn gt E 2h 144 hh 1 Presoperabiomal f f Operabonal Figure 1 NMT state machine 1 When the power Is on the NMT state is entered autonomously 2 The NMT state initialisation is finshed the NMT pre operational state is entered automatically 3 NMT service starts with remote node indication or by local control 4 and 7 NMT service enters pre operational indication 5 and 8 NMT service stops remote node indication 6 NMT service starts remote node indication 9 10 and 11 NMT resets node indication 12 13 and 14 Indication of NMT service reset communication Boot up protocol After a node starts it will enter automatically into the pre operational state Always when this transition occurs a boot up message is sent into the bus Table 2 Boot up message
33. dex Code Mapping value Object 1000h Device Type 1000 0 Device type Variable UNSIGNED32 CONST No 0x00010192 Object 1001h Error Register 1001 0 Error Register Variable UNSIGNED8 RO No 0x00 Object 1003h Pre defined Error Field 1003 Pre defined Error Field Array UNSIGNED32 000 Number of Errors RW No 0x00000000 001 Standard Error Field UNSIGNED32 RO No 0x0000000 002 Standard Error Field UNSIGNED32 RO No 0x0000000 003 Standard Error Field UNSIGNED32 RO No 0x0000000 004 Standard Error Field UNSIGNED32 RO No 0x0000000 005 Standard Error Field UNSIGNED32 RO No 0x0000000 006 Standard Error Field UNSIGNED32 RO No 0x0000000 007 Standard Error Field UNSIGNED32 RO No 0x0000000 008 Standard Error Field UNSIGNED32 RO No 0x0000000 009 Standard Error Field UNSIGNED32 RO No 0x0000000 Object 1005h COB ID SYNC 1005 0 COB ID SYNC Variable UNSIGNED32 RW No 0x00000080 Object 100Ch Guard Time 100C 0 Guard Time Variable UNSIGNED16 RW No 0x00000000 ms Object 100Dh Life Time Factor 100D 0 Life Time Factor Variable UNSIGNED8 RW No 0x00000000 Object 1010h Store Parameter Field 1010 Store Parameter Field Array UNSIGNED32 000 Number of Entries RO No 0x2 001 Save all Parameters UNSIGNED32 RW No 002 Save Communication Parame UNSIGNED32 RW No ters Object 1011h Restore Default Parameters 24 hour support 358 0 201 212 575 e Email vaconfavacon com APPENDIX A OBJECT DICTIONARY
34. e Email vaconfavacon com VACON 14 CANOPEN OPTION BOARD OPTE6 GENERAL RTR only means that the PDO is requested via RTR If the transmission mode of the PDO is synchronous the CANopen device starts sampling with the reception of every SYNC and will buffer the PDO If the mode is event driven the CANopen device starts the sampling with the reception of the RTR and transmits the PDO immediately Event driven means that the PDO can be transmitted at any time based on the occurrence of the internal event of the CANopen device An event that triggers the OPTE6 transmission occurs when the data mapped into the PDO is changed Also an event timer can be used to create transmit events Inhibit time For transmit PDOs the inhibit time defines the minimum transmission interval when OxFE or OxFF transmission types are selected For receive PDOs the inhibit time is disabled The inhibit time is 16bit unsigned value that is given as multiple of 100s Zero value means that the inhibit time is disabled Event timer For a transmit PDO event the timer defines the maximum interval between the transmissions if the transmission type is set to OxFE or OxFF For a receive PDO event the timer activates the deadline monitoring The deadline monitoring is activated at the first received PDO If the time between the after the last PDO received is longer than defined in the event timer a fault will occur Event timer is 16bit unsigned value tha
35. e system The shields of the cables shall be joint but not connected to several PE points with different poten tial Cable clamp 7 If the AC drive is the last device on the bus the bus termination must be set with jumper X13 see ch 4 3 Unless already done for the other control cables cut free the opening on the AC drive cover for the fieldbus cable protection class IP21 NOTE Cut the opening on the same side you have installed the board in 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 36 OPTE6 LAYOUT AND CONNECTIONS Remount the AC drive cover and run the cable as shown in picture NOTE When planning the cable runs remember to keep the distance between the fieldbus cable and the motor cable at a minimum of 30 cm It is recommended to route the option board cables away from the power cables as shown in the pic 9 ture es Fieldbus fw cables 9202 emf The bus termination must be set for the first and the last device of the fieldbus line See picture below See also step 7 on page 35 We recommend that the first device on the bus and thus terminated was the Master device Vacon 100 Vacon 100 Vacon 100 Vacon 100 Vacon 100 10 Termination activated Fieldbus cable Termination activated with a Ge Termination Jumper Bus termination deactivated 3007 emf
36. e value means that the motor is run ning clockwise By default the object is mapped into the first two bytes of rxPD01 Range 32768 32767 0x6042 vl Target Velocity Rpm request to drive 6 2 5 VL VELOCITY DEMAND The signed read only value of the ramp generator output scaled into rpm A negative value means that the motor is running clockwise By default the object is not mapped into any PDO Range 32768 32767 0x6043 vl Velocity Demand Drive ramp generator output scaled into rpm 6 2 6 VL VELOCITY ACTUAL VALUE The signed value of the motor actual rpm speed A negative value means that the motor is running clockwise By default the object is mapped into the last two bytes of txPD01 Range 32678 32767 0x6044 vl Velocity Actual Value Motor actual rpm speed 6 2 7 ABORT CONNECTION OPTION CODE A CIA 402 related object which defines the action performed when onfe of the following errors oc cur buss off heartbeat life guarding NMT stopped state reset application or reset communica tion 0x6007 Abort connection option code Abort Connection option code Table 72 Ox6007 Abort connection option code value description Value Description Velocity mode default 0 No action 1 Malfunction fault 2 Disable Voltage command 3 Quick stop command Tel 358 0
37. ed the CAN ground signal is carried in the cable line It is connected at only one point into common ground potential If one CAN device with not galvanically isolated interface is connect ed to the network the potential for isolated CAN ground is given Therefore only one device with not galvanically isolated interface may be connected to the network E6 Option Board E6 Option Board E6 Option Board JI 9384 emf Figure 2 Completely isolated nodes E Option Board E Option Board Non isolated node 9385 emf Figure 3 CAN network with one non isolated node 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 28 CANOPEN OPTION BOARD OPTE6 TECHNICAL 3 2 2 RECOMMENDED CABLE For all OPTE6 installations the use of 4 wire cable is recommended 4 wires enable the connection of isolated digital grounds with nodes Vacon recommends the following cable UNITRONIC BUS CAN FD P Colour coded in accordance with DIN 47100 Wu RoHS Figure 4 Recommended cable Table 62 Cable thickness length and baud rate relation Bit rate Min cable thickness 1 Mbit s 500 kbit s 250 kbit s 125 kbit s 100 kbit s 50 kbit s 20 kbit s 10 kbit s Cable length Tel 358 0 201 2121 e Fax 358 0 201 212 205 OPTE6 LAYOUT AND CONNECTIONS 4 OPTE6 LAYOU
38. ee the indicators on the cover Wait 5 more minutes before doing any work on the connections of the drive Do not open the cover before this time has expired After expiration of this time use a measuring equipment to absolutely ensure that no voltage is present Always ensure absence of voltage before starting any electrical work The control O terminals are isolated from the mains potential However the relay outputs and other 0 terminals may have a dangerous control voltage present even when the AC drive is disconnected from mains Before connecting the AC drive to mains make sure that the front and cable covers of the drive are closed gt PP PPP PPPS 24 hour support 358 0 201 212 575 e Email vaconfavacon com During a ramp stop see the Application Manual the motor is still generating voltage to the drive Therefore do not touch the components of the AC drive before the motor has completely stopped Wait until the indicators on the keypad go out if no keypad is attached see the indicators on the cover Wait additional 5 minutes before starting any work on the drive VACON 4 SAFETY 1 2 WARNINGS The AC drive is meant for fixed installations only Do not perform any measurements when the AC drive is connected to the mains The earth leakage current of the AC drives exceeds 3 5mA AC According to standard EN61800 5 1 a reinforced protective ground connection must be ensured See Chapter 1 3
39. erational state Some objects have limitations for SDO usage at the operational state Up to four bytes can be transferred by using the expedited transfer where the data fits into one CAN message For bigger than 4 byte object sizes segmented transfer must be used Optionally block transfer is also possible with bigger data types Block transfer is most efficient with big data sizes Table 18 SDO related objects in OD Index Description 0x1200 SDO server parameter object 2 3 4 PDO PROTOCOL Process data objects PDOs are used to transmit real time data with no protocol overhead Each PDO has its mapping and communication parameter record There are two different types of PDOs Transmit PDOs for producing data into network and Receive PDOs for consuming data from network OPTE6 board consist totally 3 receive and 3 transmit PDOs Table 19 PDO related objects in OD Index Description 0x1400 1st rxPDO communication parameter record 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON e 12 CANOPEN OPTION BOARD OPTE6 GENERAL Table 19 PDO related objects in OD 0x1401 2nd rxPDO communication parameter record 0x1402 3rd rxPDO communication parameter record 0x1600 1st rxPDO mapping parameter record 0x1601 2nd rxPDO mapping parameter record 0x1602 3rd rxPDO mapping parameter record 0x1800 1st txPDO communication parameter record
40. hour support 358 0 201 212 575 e Email vaconfavacon com VACON 6 46 CANOPEN OPTION BOARD INTERFACE Table 83 FB Process Data 1 8 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 FB Process data in 6 3 5 FB PROCESSDATA INPUT MAPPING IN APPLICATION Table 84 FB Processdata application mapping PD Mapped Application Data Unit PD in 1 PD in 2 PD in3 PD in4 E PDin5 PD m PD mi PD mg 6 3 6 FB STATUS WORD Mapped into FB PD out offset 0 Table 85 FB Status Word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 CP3 CP2 CP1 FRDY ZSPD ATREF ALARM FLT DIR RUN RDY Table 86 FB Status word description Bit Name Description 0 1 15 CP3 Control Place Drive Control place information 0 0 1 1 Fieldbus 14 CP2 0 1 0 2 Panel 0 1 1 3 Tool 1 0 0 4 1 0 7 FRDY Flux ready Motor magnetization is ready Flux ready 6 ZSPD Zero speed Motor is running on zero speed Zero speed condition 5 ATREF At reference Reference frequency is reached Reference reached 4 ALARM Alarm Alarm indication Drive is in Alarm 3 FLT Faulted Drive fault indicatioin Drive is Faulted 2 DIR Direction Motor running direction Clockw
41. ion Object Data Type Access PDO Default index Code Mapping Value Object 6007h Abort Connection Option Code 6007 0 Abort Connection Option Variable INTEGER16 RW No 0x0001 Code Object 6040h Controword 6040 0 Controlword Variable UNSIGNED16 RWW Yes Object 6041h Statusword 6041 0 Statusword Variable UNSIGNED16 RO Yes Object 6042h vl Target Velocity 6042 0 vl Target Velocity Variable INTEGER16 RWW Yes 0x0000 Object 6043h vl Velocity Demand 6043 0 vl Velocity Demand Variable INTEGER16 RO Yes Object 6044h vl Velocity Actual Value 6044 0 vl Velocity Actual Value Variable INTEGER16 RO Yes Object 6046h vl Velocity Min Max Amount 6046 vl Velocity Min Max Amount Array UNSIGNED32 000 Number of Entries CONST No 0x00000002 001 vl_Velocity_Min_Amount UNSIGNED32 RW No 002 vl_Velocity_Max_Amount UNSIGNED32 RW No Object 6048h vl Velocity Acceleration 6048 vl Velocity Acceleration Record P402_ VL_VEL_ACC_T 000 NumOfEntries CONST No 0x2 001 DeltaSpeed UNSIGNED32 RW No 0x0 002 DeltaTime UNSIGNED16 RW No 0x0 6049 vl Velocity Deceleration Record P402 VL_VEL_ACC_T 000 NumOfeEntries CONST No 0x2 001 DeltaSpeed UNSIGNED32 RW No 0x0 002 DeltaTime UNSIGNED16 RW No 0x0 Object 604Ah vl Velocity Quick Stop 604A vl Velocity Quick Stop Record P402_VL_VEL_ACC_T 000 NumOfEntries CONST No 0x2 001 DeltaSpeed UNSIGNED32 RW No 0x0 002 DeltaTime UNSIGNED16 RW No 0x0 Object 6060h Mode
42. ion from www vacon com downloads REMARQUE Vous pouvez t l charger les versions anglaise et francaise des manuels produit contenant l ensemble des informations de s curit avertissements et mises en garde applicables sur le site www vacon com downloads 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 6 CANOPEN OPTION BOARD OPTE6 GENERAL 2 CANOPEN OPTION BOARD OPTE6 GENERAL 2 1 OVERVIEW OPTE6 is a CANopen adapter board for Vacon manufactured frequency converters The board allows the frequency converter to be controlled by using the CANopen protocol The board implements the frequency converter profile with the velocity mode The option board firmware implements the following protocol specifications e CiA 301 CANopen communication specification version 4 2 CiA 402 CANopen Profile for Drives and Motion Controller version 3 2 Device frequency converter Operation mode velocity mode CiA 303 3 CANopen indicator specification implemented by using 2 CANopen status led indicators 2 2 SOFTWARE 2 2 1 CAN The CAN data link layer protocol is standardised in ISO 11898 The standard describes mainly the data link layer composed of the logical link control LLC sub layer and the media access control MAC sub layer and some aspects of the physical layer of the OSI reference model 2 2 2 CANOPEN CANopen is an application layer protocol on top of the CAN bus The protocol specification
43. ional message CAN ID LENGTH DATAO DATA1 DATA2 DATA3 DATA4 DATA5 DATA DATA7 0x0 0x2 0x80 SC Protocol reset node The reset node message makes the node s apply application reset See Figure 1 NMT state machine Application reset sets the whole object dictionary back to the default or previously saved values If the node ID in the message is set to D the message affects all nodes broadcast After the node has made the application reset it will enter the pre operational state automatically from the initialising state This also creates a boot up event and the boot up message is sent after the reset Table 6 Reset node message CAN ID LENGTH DATAO DATA1 DATA2 DATA3 DATA4 DATA5 DATA DATA7 0x0 0x2 0x81 Ee Tel 358 0 201 2121 e Fax 358 0 201 212 205 CANOPEN OPTION BOARD OPTE6 GENERAL VACON 9 Protocol reset communication The reset communication message makes the nodels apply communication reset See Figure 1 NMT state machine Communication reset does not affect the object dictionary values If the node ID in the message is set to 0 the message affects all nodes broadcast After the node has made the communication reset it will enter the pre operational state automatically from the initialising state This also creates a boot up event and the boot up message is sent after the reset Table 7 Reset communicatio
44. ise Counter clockwise 1 RUN Run Motor running information Stopped Running 0 RDY Ready Drive readiness information Ready 6 3 7 FB STATUS WORD EXTENSION GENERAL STATUS WORD Mapped into FB PD in offset 1 Currently not used in standard applications Tel 358 0 201 2121 e Fax 358 0 201 212 205 CANOPEN OPTION BOARD INTERFACE Table 87 FB Status word extension VACON 47 15 14 13 12 11 10 G 8 7 6 5 4 FB ACTUAL SPEED Mapped into FB PD in offset 2 6 3 8 Table 88 FB Actual Speed 15 14 13 12 11 10 8 7 6 5 4 FB Actual Speed Table 89 FB Actual Speed description Name Description Min Max FB Actual Speed Actual output frequency at percentage 10000 10000 between minimum and maximum frequency A 100 00 100 00 negative value means inverted direction 6 3 9 FB PROCESSDATA OUT 1 8 Mapped into FB PD out offset 3 11 Table 90 FB Process data 1 8 15 14 13 12 11 10 9 8 7 6 5 4 FB Process data Out 1 8 6 3 10 FB PROCESSDATA OUTPUT MAPPING IN APPLICATION Table 91 Process data output application mapping PD Mapped Application Data Unit Scale PD Out 1 Output Frequency Hz 0 01Hz PD Out 2 Motor Speed Rpm Irpm PD Out 3 Motor Curre
45. n message CAN ID LENGTH DATAO DATA1 DATA2 DATA3 DATA4 DATA5 DATA DATA7 0x0 0x2 0x82 Ee 2 3 1 2 Error control protocols Heartbeat Protocol Heartbeat protocol defines the producer and consumer Consumer node sends its NMT status that is then available for any consumer node The consumer node is the receiver of heartbeat messages The producer node has a timing parameter that indicates how often the heartbeat message should be sent The consumer node has a relative parameter that indicates how often the heartbeat message should be received If the consumer does not receive the heartbeat message within the time defined in the heartbeat object entry an error event occurs Table 8 Node status description Value Description 0x0 Boot up 0x4 Stopped 0x5 Operational 0x7F Pre operational Table 9 Heartbeat message CAN ID LENGTH DATAO DATA DATA2 DATA3 DATA4 DATA5 DATA DATA7 0x700 Node ID 0x1 Status Table 10 Heartbeat related objects in OD Index Description 0x1016 Consumer heartbeat time 0x1017 Producer heartbeat time 0x1029 Error behaviour 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 10 CANOPEN OPTION BOARD OPTE6 GENERAL Node guarding protocol Node guarding protocol is a NMT master driver protocol where the master sends a remote tran
46. nt A 0 1A PD Out 4 Motor Torque 0 1 PD Out 5 Motor Power 0 1 PD Out 6 Motor Voltage V 0 1V PD Out 7 DC Link Voltage V 1V PD Out 8 Active Fault Code 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 48 CANOPEN OPTION BOARD INTERFACE 6 4 EXCEPTION WHEN USING BYPASS MODE When using bypass mode the profile objects listed in table Objects disabled at bypass mode are in valid and do not contain valid data Table 92 Objects disabled at bypass mode Index Description 0x6040 Controlword 0x6041 Statusword 0x6042 VI Target Velocity 0x6043 VI Velocity Demand 0x6044 VI Velocity Actual Value Note At bypass mode the 0x6007 object behavior is changed as indicated in the following tables Table 93 Object behaviour changes after bypass mode Index Description 0x6007 Abort Connection Option Code Value Description Velocity mode default Bypass mode 0 No action No action 1 Malfunction fault Malfunction fault 2 Disable voltage command Malfunction fault 3 Quick stop command Malfunction fault Tel 358 0 201 2121 e Fax 358 0 201 212 205 APPENDIX A OBJECT DICTIONARY 7 APPENDIX A OBJECT DICTIONARY 7 1 COMMUNICATION SEGMENT Index Sub Description Object Data Type Access PDO Default Unit in
47. of the sync messages with counter are activated When the sync start value and the sync counter value match the first sync message is regarded as received Table 28 Sync related object in OD Index Description 0x1005 COB ID SYNC 0x1019 Synchronous counter 0x1014 EMCY object COB ID 0x1400 1st rxPDO communication parameter record 0x1401 2nd rxPDO communication parameter record 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 16 CANOPEN OPTION BOARD OPTE6 GENERAL Table 28 Sync related object in OD 0x1402 3rd rxPDO communication parameter record 0x1800 1st txPDO mapping parameter record 0x1801 2nd txPDO mapping parameter record 0x1802 3rd txPDO mapping parameter record 2 3 9 2 Device Type The device type object indicates basic information about the device including the supported device profile and the profile settings Table 29 0x1000 Device type Index Sub index Value Name Data type Access 0x1000 0x00010192 Device type UNSIGNED32 const Value description 0x0192 402 Drive profile 0x0001 Frequency converter with PDO set for a generic drive device 2 3 9 3 Error Register Error register indicates the active error code Table 30 0x1001 Device type Index Sub index Value Name Data type Access 0x1001 0x0 Error register UNSIGNED8 const Meaning of the bi
48. r w 0x1A00 2 0x20010210 FB PD Out Offset 1 UNSIGNED32 r w 3 0x20010310 FB PD Out Offset 2 UNSIGNED32 r w 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 24 CANOPEN OPTION BOARD OPTE6 GENERAL Table 55 Transmit PDO 2 mapping entry Index Sub index Value Name Data type Access 0 4 Number of entries UNSIGNED8 r w 1 0x20010410 FB PD Out Offset 3 UNSIGNED32 r w 0x1A01 2 0x20010510 FB PD Out Offset 4 UNSIGNED32 r w 3 0x20010610 FB PD Out Offset 5 UNSIGNED32 r w 4 0x20010710 FB PD Out Offset 6 UNSIGNED32 r w Table 56 Transmit PDO 3 mapping entry Index Sub index Value Name Data type Access 0 4 Number of entries UNSIGNED8 r w 1 0x20010810 FB PD Out Offset 7 UNSIGNED32 r w 0x1A02 2 0x20010910 FB PD Out Offset 8 UNSIGNED32 r w 3 0x20010A10 FB PD Out Offset 9 UNSIGNED32 r w 4 0x20010B10 FB PD Out Offset 10 UNSIGNED32 r w Data inside FB PD Out vary according to the drive application For further information see Application Manual Configuration of the transmit PDO parameter when the bypass parameter set is restored Is the following Table 57 Transmit PDO 1 communication parameter record Index Sub index Value Name Data type Access 0 6 Highest sub index UNSIGNED8 ro 1 0x00000180 id COB ID UNSIGNED32 r w 2 OxFE Transmission type UNSIGNED8 r w 0x1800 3 0x03E8 Inhibit time
49. ration of the receive PDO mapping when the bypass parameter set is restored is the fol lowing Table 48 Receive PDO 1 CANOPEN OPTION BOARD OPTE6 GENERAL Index Sub index Value Name Data type Access 0 3 Number of entries UNSIGNED8 r w 1 0x20000110 FB PD In Offset 0 UNSIGNED32 r w 0x1600 2 0x20000210 FB PD In Offset 1 UNSIGNED32 r w 3 0x20000310 FB PD In Offset 2 UNSIGNED32 r w Table 49 Receive PDO 2 Index Sub index Value Name Data type Access 0 4 Number of entries UNSIGNED8 r w 1 0x20000410 FB PD In Offset 3 UNSIGNED32 r w 0x1601 2 0x20000510 FB PD In Offset 4 UNSIGNED32 r w 3 0x20000610 FB PD In Offset 5 UNSIGNED32 r w 4 0x20000710 FB PD In Offset 6 UNSIGNED32 r w Table 50 Receive PDO 3 Index Sub index Value Name Data type Access 0 4 Number of entries UNSIGNED8 r w 1 0x20000810 FB PD In Offset 7 UNSIGNED32 r w 0x1602 2 0x20000910 FB PD In Offset 8 UNSIGNED32 r w 3 0x20000A10 FB PD In Offset 9 UNSIGNED32 r w 4 0x20000B10 FB PD In Offset 10 UNSIGNED32 r w Data inside FB PD In vary according to the drive application For further information see Application Manual Configuration of the receive PDO parameter when the bypass parameter set is restored is the fol lowing Table 51 Receive PDO 1 communication parameter record Index Sub index Value Name Data type Access
50. s CONST No 0xB 001 FB PD In Offset 0 UNSIGNED16 RWW Yes 0x0 002 FB PD In Offset 1 UNSIGNED16 RWW Yes 0x0 003 FB PD In Offset 2 UNSIGNED16 RWW Yes 0x0 004 FB PD In Offset 3 UNSIGNED16 RWW Yes 0x0 005 FB PD In Offset 4 UNSIGNED16 RWW Yes 0x0 006 FB PD In Offset 5 UNSIGNED16 RWW Yes 0x0 007 FB PD In Offset 6 UNSIGNED16 RWW Yes 0x0 008 FB PD In Offset 7 UNSIGNED16 RWW Yes 0x0 009 FB PD In Offset 8 UNSIGNED16 RWW Yes 0x0 010 FB PD In Offset 9 UNSIGNED16 RWW Yes 0x0 011 FB PD In Offset 10 UNSIGNED16 RWW Yes 0x0 2001 FB Processdata Out Array UNSIGNED16 000 Number of Entries CONST No 0xB 001 FB PD Out Offset 0 UNSIGNED16 RO Yes 0x0 002 FB PD Out Offset 1 UNSIGNED16 RO Yes 0x0 003 FB PD Out Offset 2 UNSIGNED16 RO Yes 0x0 004 FB PD Out Offset 3 UNSIGNED16 RO Yes 0x0 005 FB PD Out Offset 4 UNSIGNED16 RO Yes 0x0 006 FB PD Out Offset 5 UNSIGNED16 RO Yes 0x0 007 FB PD Out Offset 6 UNSIGNED16 RO Yes 0x0 008 FB PD Out Offset 7 UNSIGNED16 RO Yes 0x0 009 FB PD Out Offset 8 UNSIGNED16 RO Yes 0x0 010 FB PD Out Offset 9 UNSIGNED16 RO Yes 0x0 011 FB PD Out Offset 10 UNSIGNED16 RO Yes 0x0 The objects from 0x2100 to 0x5FFF contain the device specific parameters and monitoring values These can be found in a separate EDS file which can be downloaded from www vacon com Tel 358 0 201 2121 e Fax 358 0 201 212 205 APPENDIX A OBJECT DICTIONARY VACON 55 7 3 DEVICE PROFILE SEGMENT Index Sub Descript
51. s for the associated protective circuit must be satisfied al The protective conductor must have a cross sectional area of at least 10 mm2 Cu or 16 mm2 Al through its total run b Where the protective conductor has a cross sectional area of less than 10 mm2 Cu or 16 mm2 Al a second protective conductor of at least the same cross sectional area must be provided up to a point where the protective conductor has a cross sectional area not less than 10 mm2 Cu or 16 mm2 Al c Automatic disconnection of the supply in case of loss of continuity of the protective conductor The cross sectional area of every protective earthing conductor which does not form part of the supply cable or cable enclosure must in any case be not less than 2 5mm if mechanical protection is provided or 4mm if mechanical protection is not provided The earth fault protection inside the AC drive protects only the drive itself against earth faults in the motor or the motor cable It is not intended for personal safety Due to the high capacitive currents present in the AC drive fault current protective switches may not function properly Do not perform any voltage withstand tests on any part of the AC drive There is A a certain procedure according to which the tests must be performed Ignoring this procedure can cause damage to the product NOTE You can download the English and French product manuals with applicable safety warning and caution informat
52. s mapped into the first two bytes of rxPD01 Table 70 0x6040 Controlword Bit Name Description 9 15 not used 8 h Halt Drive halt with ramp and stay in operation enabled mode 7 fr Fault reset Rising edge resets fault 4 6 not used 3 eo Enable operation Start drive 2 qs Quick stop Stops drive with minimum rapm when value is zero 1 ev Enable voltage Enables disables output voltage 0 so Switch on Enables possibility to start drive together with ev 6 2 3 STATUSWORD Statusword indicates whether the drive is in remote control and if the target velocity is reached By default Statusword is mapped into the first two bytes of txPD01 Table 71 0x6041 Statusword Bit Name Description 11 15 not used 10 tr Target reached Target velocity reached rm Remote Indicates if the drive is controllable by CANopen 7 8 not used 6 sod Switch on disabled PDS switch on disable 5 qs Quick stop PDS quick stop active 4 ve Voltage enabled Voltage is enabled 3 f Fault PDS Fault indicates fault condition 2 oe Operation enabled PDS operation enabled drive is running 1 so Switched on PDS switched on 0 rtso Ready to switch on PDS ready to switch on 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 42 CANOPEN OPTION BOARD INTERFACE 6 2 4 VL TARGET VELOCITY The signed value of motor rpm speed request to drive A negativ
53. s of Operation 6060 0 Modes of Operation Variable INTEGER8 RW No Object 6061h Modes of Operation Display 6061 0 Modes of Operation Display Variable INTEGER8 RO Object 6502h Supported Drive Modes 6502 0 Supported Drive Modes Variable UNSIGNED32 RO 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 6 56 APPENDIX A OBJECT DICTIONARY Tel 358 0 201 2121 e Fax 358 0 201 212 205 VACON DRIVEN BY DRIVES Find your nearest Vacon office on the Internet at WWW Vacon comM Manual authoring documentation avacon com Document ID Runsorintie 7 65380 Vaasa Finland DP ODO 1 0 Subject to change without prior notice 9 1 A 2013 Vacon Plc Rev A Vacon Plc
54. smission request which is answered by the slave The slave response includes one data byte that consists of a NMT slave state and a toggle bit that toggles every response NOTE The CiA application note 802 recommends that the node guarding protocol should not be used because of different handling of RTR frames in CAN controllers OPTE6 option board does not have a hardware triggered automatic response to the RTR frame RTR information is handled by software and the response data always consists of updated information Table 11 Node guarding RTR frame remote request CAN ID LENGTH RTR DATAO DATA1 DATA2 DATA3 DATA4 DATAS DATA6 DATA7 0x700 Nodeip PO 1 Table 12 Node guarding response CAN ID LENGTH DATAO DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7 0x700 Node ID 0x1 t Status Table 13 Node guarding slave status Status Value Description 0x4 Stopped 0x5 Operational 0x7F Pre operational Table 14 Node guarding related objects in OD Index Description 0x100C Guard time 0x100D Life time factor 2 3 2 EMCY OBJECT Option board works as an EMCY producer The EMCY object is transmitted when a fault occurs in the drive or option board To switch off the EMCY producer disable the EMCY COB id by writing MSB bit to 1 object 0x1014 When an error occurs the EMC
55. t Offset 5 FB Process data out 03 FB PD Out Offset 6 FB Process data out 04 FB PD Out Offset 7 FB Process data out 05 FB PD Out Offset 8 FB Process data out 06 FB PD Out Offset 9 FB Process data out 07 FB PD Out Offset 10 FB Process data out 08 6 3 4 FB CONTROL WORD Mapped into FB PD in offset 0 Table 77 FB Control Word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 ESTP JOG2 JOG1 BREF BCTRL ZREF FRMP ZRMP STPM2 STPM1 FRST DIR STRT Table 78 FB Control Word description Bit Name Description 0 1 12 ESTP Emergency Stop Request as fast stop as possible Emergency stop 11 JOG2 Jogging request Select jogging with reference 2 Select ref2 jogging Jogging request Select jogging with reference 1 Select ref1 jogging Tel 358 0 201 2121 e Fax 358 0 201 212 205 CANOPEN OPTION BOARD INTERFACE VACON 45 Bit Name Description 0 1 9 BREF Bus Reference Force Reference to fieldbus Selected reference Force Fieldbus refer place ence 8 BCTRL Bus Control Force fieldbus control active Selected control place Force Fieldbus Control 7 ZREF Zero Ref Force reference to zero Force reference to zero 6 FRMP Ramp Freeze Freeze ramp generator Freeze ramp generator 5 ZRMP Zero Ramp Force ramp to zero Ramp time to zero A STPM2 Stop
56. t is given as multiple of 1ms Zero value means that the event timer is disabled Sync start value Sync start value gives the possibility to compensate network peak traffic in case of sync transmission mode If the sync start value is zero the normal sync behaviour for the PDO is used If the sync start value is greater than zero the PDO waits for the SYNC message that contains the counter value When the counter value of a SYNC message equals the SYNC start value the first SYNC message is regarded as received The sync start value must not be changed while the PDO exists See the SYNC message format in Table 26 2 3 4 4 PDO parameter mapping record Each PDO consists of a maximum of 8 bytes of mapped data To data map the PDO use a corresponding mapping record that consists of index sub index and the length of the mapped object Table 24 PDO mapping structure 31 16 15 8 7 0 Index Sub index Length To data map the PDOs first disable the related PDO COB ID in the pre operational state In the mapping structure write the sub index 0 to zero number of mapped objects Then write the mapping structures on the mapping parameter record starting from the sub index 1 When you have written all the necessary structures write the sub index 0 to correspond to the mapped objects Table 25 PDO mapping parameter record Indexes Sub index Name Data type Access Tel 358 0 201 2121 e
57. ts 0 generic error 1 current 2 voltage 3 temperature 4 communication error overrun error state 5 device profile specific 6 reserved 7 manufacturer specific Tel 358 0 201 2121 e Fax 358 0 201 212 205 CANOPEN OPTION BOARD OPTE6 GENERAL 2 3 5 4 Pre defined Error Field Pre defined error field is a list of errors signaled with an EMCY object listing the error history of up to 9 error entries Sub index 1 contains the latest error Table 31 0x1003 Pre defined error field VACON 17 Index Sub index Value Name Data type Access 0 0x0 EIER UNSIGNED32 ro errors Standarderror UNSIGNED32 1 0x0 field ro 0x1003 le Standarderror UNSIGNED32 9 0x0 ro field 2 3 6 COB ID SYNC Defines the synchronisation message COB ID Receiving the sync message causes actions in the PDOs that have a synchronous transmission mode Table 32 0x1005 COB ID sync Index Sub index Value Name Data type Access 0x1005 0x00000080 COB ID sync UNSIGNED32 r w 2 3 6 1 Guard Time The object contains the guard time in milliseconds As a default guarding is disabled Table 33 0x100C Guard time Index Sub index Value Name Data type Access 0x100C 0x0000 Guard time UNSIGNED16 r w 2 3 6 2 Life Time Factor Life time factor is used together with guard time which is multiplied with the life time factor Node
58. us 0 00 eee ccceceececeecceceeeeeeeeeeeeeceaeeeeeeecenseseeeeeceeneaeeesensenas 34 5 RU Uu TT waicincteciidecsinsitsans atandan aaaea Anaa EAEan AAEREN anii 37 5 1 OPTE pnanelparameters tat ttt tt EnEEtEtEEAEANEEEEEEAEEEEEEEEEEEE EAEEren Eeee 37 5 1 1 Parameter descriptions cccccccccecceeeeceeceeeeeeeeeeeeececsnaeeeeeecenaeeeeeeeeseaeeeeeeesesneseeeesseeeeaes 37 6 CANopen option board interface c ccccceeseeeseeeeeesseeeeeneeeeneeeeeeaeeeeaseeeeeneseees 39 6 1 Supported Bel Vue EE 39 G22 Velocity TAO TEE 40 6 2 1 SPOS State WV EE 40 62A E BE 41 P LUST WE 41 624 EEN EEN dee eet Eed eg 42 6 2 5 vl Velocity Demand 42 6 2 6 vl Velocity Actual Value ccc cecececccecceceneceeeeeeceeaeeceeseeeaeeeesceceeaeeseesecesaeeeesssneneeeeeesnsneeeees 42 6 2 7 Abort Connection Option code 42 62 8 BYPASS ee 43 6 3 Default process data application mapping reene re 44 6 3 4 FB Control Word E 44 6 3 2 FB Control Word Extension general control word 45 6 3 3 FB Speed Reference ccccccceceesccecceecseneceeeeceseneeeeeesesceeeeeeeeceaeeeeeeeseueeeeeeesnsueeseesssnseeees 45 6 3 4 FB Processdata Tr E 45 6 3 5 FB Processdata Input mapping in application c ce cceceeeeeeceeeeeeeecneeeeeeesesteeeeeeeeeeneeeeees 6 3 6 FB Status Word 24 hour support 358 0 201 212 575 e Email vaconfavacon com VACON 2 6 3 7 FB Status Word Extension general status word 46 623 0 FBActual Eege edel Riese ete Nadine RO aett
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