Kostal inveor User manual

Operating manual
CANopen fieldbus

2Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN
Legal notice
KOSTAL Industrie Elektrik GmbH
An der Bellmerei 10
58513 Lüdenscheid
Germany
Tel. [phone]
Fax [phone]
info[email protected]
Exclusion of liability
All names, trade names, product names and other designations used in this manual may be legally
protected even if not indicated as such (e.g. as a trademark). KOSTAL assumes no liability for their
free usage.
The illustrations and texts have been compiled with great care. However, the possibility of errors
cannot be ruled out. The compilation is made without any guarantee.
General note on gender equality
KOSTAL is aware of how language impacts on gender equality and always make an effort to reflect
this in documentation. Nevertheless, for the sake of readability we are unable to use non-gender-
specific terms throughout and use the masculine form instead.
© 2016 KOSTAL Industrie Elektrik GmbH
All rights reserved by KOSTAL, including those of reproduction by photocopy and storage in
electronic media. Commercial use or distribution of the texts, displayed models, diagrams and
photographs appearing in this product is not permitted.
This manual may not be reproduced, stored, transmitted or translated in any form or by means of
any medium - in whole or in part - without prior written permission.

Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN 3
Contents
1. General information..................................................................................... 5
1.1 Information about documentation .................................................................................5
1.1.1 Other applicable documents.........................................................................................5
1.1.2 Storing the documentation ...........................................................................................5
1.2 Notes in this manual.....................................................................................................6
1.2.1Warnings .....................................................................................................................6
1.2.2 Warning symbols used.................................................................................................7
1.2.3 Signal words................................................................................................................7
1.2.4 Information notes .........................................................................................................8
1.3 Symbols used in this manual ........................................................................................9
1.4 Qualified staff ...............................................................................................................9
1.5 Proper use...................................................................................................................9
1.6 Responsibility.............................................................................................................10
1.7 Contacts for information .............................................................................................10
1.8 Safety instructions......................................................................................................10
2. Device and system description ................................................................ 11
2.1 CANopen...................................................................................................................11
2.1.1 Master/slave operation ...............................................................................................12
2.2 Scope of delivery .......................................................................................................12
2.3 Item description for INVEOR.......................................................................................13
2.3.1 Type code for CANopen (valid until end of February 2016)........................................... 13
2.3.2 Type code for CANopen (current) ...............................................................................14
2.3.3 Features code............................................................................................................14
2.4 Hardware components...............................................................................................15
2.4.1 Pin assignment for interfaces......................................................................................20
2.4.2 Cable.........................................................................................................................20
2.5 Software components................................................................................................20
3. Installation.................................................................................................. 21
3.1 Configuring drive controller for CANopen ....................................................................22
3.2 INVEOR bus address .................................................................................................22
3.2.1 Setting the address on the communication card..........................................................24
3.3 Setting the fieldbus address via rotary switches Switch 1/Switch 2 ............................. 25
3.4 Installing the INVEOR EDS file.....................................................................................27
4. CANopen in the INVEOR ........................................................................... 28
4.1 EDS file object directory .............................................................................................28
4.1.1 Communication objects (0x1000 – 0x1200) ................................................................28
4.1.2 PDO configuration objects (0x1400 – 0x1A01) ............................................................29
4.1.3 INVEOR process values Out (0x3000 – 0x3031, 0x3502, 0x3503) ...............................30
4.1.4 INVEOR process values In (0x3032 – 0x3040, 0x3500, 0x3501)..................................32
4.1.5 Structure of INVEOR control word ..............................................................................33
4.1.6 Structure of INVEOR status word................................................................................35
4.1.7 INVEOR parameters (0x2000-0x2200) ........................................................................36
4.2 Timeout monitoring with node guarding ...................................................................... 39

Contents
4Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN
4.3 Timeout monitoring with heartbeat..............................................................................40
4.3.1 Heartbeat producer....................................................................................................41
4.3.2Heartbeat consumer ..................................................................................................41
5. Error detection and troubleshooting ....................................................... 42
5.1 Application side error word.........................................................................................42
5.2 Power side error word................................................................................................43

Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN 5
1. General information
Thank you for choosing an INVEOR drive controller with CANopen from KOSTAL Industrie Elektrik
GmbH! Our INVEOR line of drive controllers is designed to be universally usable with all common
motor types and bus systems.
If you have any technical questions, please call our central service hotline:
Tel.: [phone]
Monday to Friday: 7 am to 5 pm (UTC/GMT +1)
Fax: [phone]
E-mail: [e-mail]
Website address
www.kostal-industrie-elektrik.com
1.1 Information about documentation
This documentation is a supplementary operating manual for the INVEOR drive controller with the
CANopen bus system. It contains all the important information you need to install and operate the
bus system.
Please read the operating manuals for the drive controller and bus system through carefully. They
contain important information for operating the INVEOR with fieldbus.
We assume no liability for any damage resulting from non-observance of this manual.
This manual is an integral part of the product and applies exclusively to the INVEOR with CANopen
from KOSTAL Industrie Elektrik GmbH.
Provide the operator of the system with this manual so it is available when needed.
1.1.1 Other applicable documents
This refers to all manuals that describe how to operate the drive controller system and any other
manuals for the equipment used. Download the 3D files (.stp) for INVEOR and adapter plates from
www.kostal-industrie-elektrik.com.
A description of parameters is available for download (www.kostal-industrie-elektrik.com) for
parametrising the drive controller system. In the download, you will find all the information required
for correct parameterisation.
1.1.2 Storing the documentation
Store this operating manual and all other applicable documents carefully so they are available
when needed.

General information
6Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN
1.2 Notes in this manual
1.2.1 Warnings
The warnings refer to life-threatening dangers.
Serious injuries possibly resulting in death may occur.
Each warning consists of the following elements:
DANGER!
Risk of death due to electrical shock!
Death or serious injury!
De-energise drive controller and secure it against being restarted.
Fig.: 1 Structure of warnings
1 Warning symbol
2 Signal word
3 Type of danger and its source
4 Possible consequence(s) of failure to comply
5 Corrective actions
3
4
5
2
1

General information
Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN 7
1.2.2 Warning symbols used
Symbols Explanation
Danger
Danger due to electrical shock and discharge
Danger due to burns
Danger due to electromagnetic fields
1.2.3 Signal words
Signal words are used to identify the severity of the danger.
DANGER
Indicates a direct hazard with a high level of risk, which, if not avoided, will result in death or
serious injury.
WARNING
Indicates a hazard with a moderate level of risk, which, if not avoided, will result in death or serious
injury.
CAUTION
Indicates a hazard with a low level of risk, which, if not avoided, may result in minor or slight injury
or property damage.

General information
8Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN
1.2.4 Information notes
Information notes contain important instructions for the installation and problem-free operation of
the drive controller. These must be followed at all times. The information notes also point out that
failure to observe can result in damage to property or financial damages.
IMPORTANT INFORMATION
The drive controller may only be assembled, operated, maintained and installed by trained and
qualified staff.
Fig.: 2 Example of an information note
Symbols within the information notes
Symbols Explanation
Important information
Damage to property possible
Other notes
Symbols Explanation
INFORMATION
Enlarged view

General information
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1.3 Symbols used in this manual
Symbol Meaning
1., 1., 3. … Consecutive steps in a handling instruction
 Effect of a handling instruction
Final result of a handling instruction
List
Fig.: 3 Symbols and icons used
Abbreviations used
Abbreviation Explanation
Tab. Table
Fig. Figure
It. Item
Ch. Chapter
1.4 Qualified staff
You will find the "Qualified staff" chapter in the operating manual for the INVEOR.
1.5 Proper use
You will find the "Proper use" chapter in the operating manual for the INVEOR.

General information
10 Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN
1.6 Responsibility
You will find the "Responsibility" chapter in the operating manual for the INVEOR.
1.7 Contacts for information
More information is available from:
Central service hotline
Tel.: [phone]
Monday to Friday: 7 am to 5 pm (UTC/GMT +1)
Fax: [phone]
E-mail: [e-mail]
Website address
Customers can find technical and general information on the following website:
www.kostal-industrie-elektrik.com
1.8 Safety instructions
You will find the "Safety instructions" chapter in the operating manual for the INVEOR.

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2. Device and system description
This chapter contains information on the scope of delivery for the drive controller and the function
description.
2.1 CANopen
Fig.: 4 Wiring and bus connection
The CANopen bus system belongs to the fieldbus family and is based on the CAN bus (Controller
Area Network). The network is generally linear in structure.
The maximum data transfer rate to a CANopen bus may be up to 1 Mbit/s and depends on the line
length.
The maximum number of participants in the bus network is 127.

Device and system description
12 Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN
Data transfer rates
The data transfer rate can be selected by the user within a range from 10 kbit/s to 1 Mbit/s. The
data transfer is selected when setting up the fieldbus and applies to all participants.
The fieldbus baud rate can be set by means of parameter 6.061 (see table).
The maximum length of a segment stands in a reversely proportional relationship to the data
transfer rate (see table).
Data transfer rate (kbit/s) 10 20 50 125 250 500 1000
Parameter 6.061 (fieldbus baud rate)
8
7
6
4
3
2
0
Length/segment (m)
5000
2500
1000
500
250
100
25
Max. length of a stub (m)
275
137.5
55
22
11
5.5
1.5
Max. length of all stubs
1375
687.5
275
110
55
27.5
7.5
IMPORTANT INFORMATION
If longer lines are needed, repeaters must be used.
2.1.1 Master/slave operation
The INVEOR should only be operated as a CANopen slave
2.2 Scope of delivery
The scope of delivery is described in the INVEOR basic documentation.
The interface card is part of the INVEOR.

Device and system description
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2.3 Item description for INVEOR
2.3.1 Type code for CANopen (valid until end of February 2016)
Example of an INVEOR CANopen item designation
Key
1 Drive controller series: INVEOR 6 Housing: G0 – standard (black with
inscription);
0-standard (cooling elements);
0-standard (with potentiometer);
00 -standard screw connections
2 Installation location/size: M-motor-
integrated, size: A, B, C, D
7 Firmware version: S00 – standard
3 Input voltage 2: 230 V
4: 400 V
8 Model: 000 standard;
001 specific
4 Recommended motor rating: 0.55; 0.75;
1.1; 1.5; 2.2; 3.0; 4.0; 5.5; 7.5; 11; 15; 18.5;
22 kW
9 Equipment generation: 1 – current version
5 Printed circuit boards:
A012 – standard +CANopen
A032 – functional safety + CANopen

Device and system description
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2.3.2 Type code for CANopen (current)
Example of an INVEOR CANopen item designation
Key
1 Drive controller series: INVEOR 6 Application printed circuit board:
AP05 - standard + CANopen
AP21 - functional safety + CANopen
2 Installation location/size: M-motor-
integrated, size: A - D
7 Cover: DK01 – Standard
3
Input voltage: IV01 - 400 V
8
Housing: GH10 – standard cooling elements
(painted black)
4 Recommended motor rating:
PW02 (0.37 kW); PW03 (0.55 kW);
PW04 (0.75 kW); PW05 (1.1 kW);
PW06 (1.5 kW); PW07 (2.2 kW);
PW08 (3.0 kW); PW09 (4.0 kW);
PW10 (5.5 kW); PW11 (7.5 kW);
PW12 (11 kW); PW13 (15 kW);
PW14 (18.5 kW); PW15 (22 kW)
9 Firmware version: CO00 - standard
CO01 - Specific
5 Power printed circuit board:
LP01 - standard
LP02 – with brake chopper
2.3.3 Features code
AP05 - standard + CANopen
AP21 - functional safety + CANopen

Device and system description
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2.4 Hardware components
The following hardware components are required for connecting the INVEOR to a CANopen bus
system:

CANopen, M12 connecting cable 2 m
M12 plug on M12 coupling / CANopen / 5-pin / 2 m /
A-coded
INVZUB – L / CL / CO / M12M / M12F / 2 m / A / -
Order no.: 10138812

CANopen, M12 connecting cable 2 m
M12 plug on M12 coupling / CANopen / 5-pin / 5 m /
A-coded
INVZUB – L / CL / CO / M12M / M12F / 5 m / A / -
Order no.: 10138813

CANopen, M12 connection cable open 2 m
M12 plug / open / CANopen / 5-pin / 2 m / A-coded
INVZUB – L / CL / CO / M12M / OPEN / 2 m / A / -
Order no.: 10138804

CANopen, M12 connection cable open 10 m
M12 plug / open / CANopen / 5-pin / 10 m / A-coded
INVZUB – L / CL / CO / M12M / OPEN / 10 m / A / -
Order no.: 10138806

CANopen, M12 connection cable open 2 m
M12 coupling / open / CANopen / 5-pin / 2 m / A-coded
INVZUB – L / CL / CO / M12F / OPEN / 2 m / A / -
Order no.: 10138807

CANopen, M12 connection cable open 10 m
M12 coupling / open / CANopen / 5-pin / 10 m / A-coded
INVZUB – L / CL / CO / M12F / OPEN / 10 m / A / -
Order no.: 10138809

CANopen, M12 Y-splitter
M12 coupling on plug and coupling / CANopen / 5-pin /
A-coded
INVZUB – L / YD / CO / M12M / M12F / - / A / -
Order no.: 10138791

CANopen, M12 plug can be self-assembled
M12 plug / CANopen / 5-pin / A-coded
INVZUB – L / CF / CO / M12M / - / - / A / -
Order no.: 10138799

CANopen, coupling can be self-assembled
M12 coupling / CANopen / 5-pin / A-coded
INVZUB – L / CF / CO / M12F / - / - / A / -
Order no.: 10138801

CANopen, M12 terminating resistor
M12 plug / CANopen / 5-pin / A-coded
INVZUB – L / TE / CO / M12M / - / - / A / -
Order no.: 10138792

CANopen, M12 terminating resistor
M12 coupling / CANopen / 5-pin / A-coded
INVZUB – L / TE / CO / M12F / - / - / A / -
Order no.: 10138793
*Not part of the scope of delivery
INFORMATION
The INVEOR is fitted in the factory with the appropriate communication card.
The INVEOR cannot be retrofitted or converted at a later date.

Device and system description
16 Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN
The following connections can be found on the INVEOR with CANopen interface
Size Alpha:
Fig.: 1 Size Alpha "CANopen" connections
Size Alpha "CANopen" connections
1
Blind plug (optional motor connection with wall mounting)
2
Control cable blind plug
3
Ground screw
4
Grid connection
5
Transparent plug
6
MMI / CANopen
7
Foil keypad (optional)

Device and system description
Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN 17
Size A
Fig.: 5 Size A "CANopen" connections
Size A "CANopen" connections
1
Blind plug
2
Control line
3
CANopen
4
MMI
5
Potentiometer
6
Grid connection
7
Blind plugSTO (install EMC screw connection supplied in the package)
8
Blind plug STO (install EMC screw connection supplied in the package)

Device and system description
18 Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN
Size B-C
Fig.: 6 Sizes B - C “CANopen” connections
Sizes B - C “CANopen” connections
1
Blind plug STO (install EMC screw connection supplied in the package)
2
Control line
3
Blind plug
4
CANopen
5
MMI
6
Potentiometer
7
Blind plug STO (install EMC screw connection supplied in the package)
8
Blind plug STO (install EMC screw connection supplied in the package)
9
Grid connection

Device and system description
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Size D
Fig.: 7 Size D "CANopen" connections
Size D "CANopen" connections
1
Cable screw connection with blind plug
2
Control line
3
CANopen
4
MMI
5
Potentiometer
6
Blind plug STO (install EMC screw connection supplied in the package)
7
Blind plug STO (install EMC screw connection supplied in the package)
8
Grid connection

Device and system description
20 Operating manual for CANopen fieldbus | DOC01738251-0001 | 2016-12 | V2.00 EN
2.4.1 Pin assignment for interfaces
Socket Pin no. Signal
1
Not assigned
2
Not assigned
3
CAN_GND
4
CAN_H
5
CAN_L
Housing
Shielding
Fig.: 8 Plug label M12 / 5-pin / A-coded
2.4.2 Cable
The following points should be observed when wiring:
Terminating resistors (120 Ω) must be installed at each end of the bus.
Lay bus and power cables as far apart as possible (min. 30 cm),
If cables do cross, an angle of 90° should be observed if possible.
2.5 Software components
The INVEOR drive controller can be parameterised using the INVEORpc tool and MMI
(see operating manual) as well as a CANopen master.
IMPORTANT INFORMATION
Not
all parameters of the INVEOR are available via the CANopen interface!