Lenze SMVector User manual

SMVector - CANopen Communication Module
Communications Interface Reference Guide

About these instructions
This documentation applies to the CANopen communications option for the SMVector inverter
and should be used in conjunction with the SMVector Operating Instructions (Document SV01)
that shipped with the drive. These documents should be read in their entirety as they contain
important technical data and describe the installation and operation of the drive and this option.
© 2007 Lenze AC Tech Corporation
No part of this documentation may be copied or made available to third parties without the
explicit written approval of Lenze AC Tech Corporation.
All information given in this documentation has been carefully selected and tested for compliance
with the hardware and software described. Nevertheless, discrepancies cannot be ruled out.
We do not accept any responsibility nor liability for damages that may occur. Any necessary
corrections will be implemented in subsequent editions.
SMVector®, and all related indicia are trademarks of Lenze AG in the United States and other
countries.
CAN™, CANopen™ and all related indicia are trademarks of CAN in Automation (CiA).
CompoNet™, DeviceNet™, CIP™, CIP Safety™, CIP Sync™, CIP Motion™, DeviceNet Safety™
and EtherNet/IP Safety™ and all related indicia are trademarks of the ODVA (Open DeviceNet
Vendors Association). EtherNet/IP™ is a trademark used under license by ODVA.

1 CMVCAN01B
Contents
1 Safety Information .............................................................................................................2
1.1 Warnings, Cautions and Notes ......................................................................................... 2
1.1.1 General ...............................................................................................................................2
1.1.2 Application ..........................................................................................................................2
1.1.3 Installation ..........................................................................................................................2
1.1.4 Electrical Connection ..........................................................................................................2
1.1.5 Operation ............................................................................................................................3
1.2 Reference Documentation ................................................................................................ 3
2 Introduction .......................................................................................................................4
2.1 Overview ........................................................................................................................... 4
2.2 SMVector CANopen Implementation Specifications ......................................................... 4
2.3 Module Identification Label ............................................................................................... 4
3 Installation .........................................................................................................................5
3.1 Mechanical Installation ...................................................................................................... 5
3.2 CANopen Terminal Block .................................................................................................. 6
3.3 Electrical Installation ......................................................................................................... 6
3.3.1 Cable Types .......................................................................................................................6
3.3.2 Network Limitations ............................................................................................................6
3.3.3 Connections and Shielding .................................................................................................7
3.3.4 Network Termination...........................................................................................................8
3.3.5 Network Schematic .............................................................................................................8
4 Commissioning CANopen Communications .....................................................................9
4.1 Quick Set-up ..................................................................................................................... 9
5 Extended Parameters for CANopen ...............................................................................10
5.1 Parameter Menu ............................................................................................................. 10
5.2 CANopen Mapping Details .............................................................................................. 17
5.2.1 RPDO Mapping (P446/P456) ...........................................................................................17
5.2.2 TPDO Mapping (P466/P476) ............................................................................................20
6 Troubleshooting and Fault Elimination ...........................................................................23
6.1 Faults .............................................................................................................................. 23
6.2 Troubleshooting .............................................................................................................. 23
A1 Appendix A - Configuration Example ..............................................................................24
A1.1 Master / Follower Drive System ...................................................................................... 24

CMVCAN01B 2
Safety Information
1 Safety Information
1.1 Warnings, Cautions and Notes
1.1.1 General
Some parts of Lenze controllers (frequency inverters, servo inverters, DC controllers) can be
live, moving and rotating. Some surfaces can be hot.
Non-authorized removal of the required cover, inappropriate use, and incorrect installation or
operation creates the risk of severe injury to personnel or damage to equipment.
All operations concerning transport, installation, and commissioning as well as maintenance
must be carried out by qualified, skilled personnel (IEC 364 and CENELEC HD 384 or DIN
VDE 0100 and IEC report 664 or DIN VDE0110 and national regulations for the prevention of
accidents must be observed).
According to this basic safety information, qualified skilled personnel are persons who are familiar
with the installation, assembly, commissioning, and operation of the product and who have the
qualifications necessary for their occupation.
1.1.2 Application
Drive controllers are components which are designed for installation in electrical systems or
machinery. They are not to be used as appliances. They are intended exclusively for professional
and commercial purposes according to EN 61000-3-2. The documentation includes information
on compliance with the EN 61000-3-2.
When installing the drive controllers in machines, commissioning (i.e. the starting of operation as
directed) is prohibited until it is proven that the machine complies with the regulations of the EC
Directive 2006/42/EC (Machinery Directive); EN 60204 must be observed.
Commissioning (i.e. starting of operation as directed) is only allowed when there is compliance
with the EMC Directive (2004/108/EC).
The drive controllers meet the requirements of the Low Voltage Directive 2006/95/EC. The
harmonised standards of the series EN 50178/DIN VDE 0160 apply to the controllers.
The availability of controllers is restricted according to EN 61800-3. These products
can cause radio interference in residential areas. In this case, special measures can be
necessary.
1.1.3 Installation
Ensure proper handling and avoid excessive mechanical stress. Do not bend any components
and do not change any insulation distances during transport or handling. Do not touch any
electronic components and contacts.
Controllers contain electrostatically sensitive components, which can easily be damaged by
inappropriate handling. Do not damage or destroy any electrical components since this might
endanger your health!
1.1.4 Electrical Connection
When working on live drive controllers, applicable national regulations for the prevention of
accidents (e.g. VBG 4) must be observed.

3 CMVCAN01B
Safety Information
The electrical installation must be carried out according to the appropriate regulations (e.g.
cable cross-sections, fuses, PE connection). Additional information can be obtained from the
documentation.
The documentation contains information about installation in compliance with EMC (shielding,
grounding, filters and cables). These notes must also be observed for CE-marked controllers.
The manufacturer of the system or machine is responsible for compliance with the required limit
values demanded by EMC legislation.
1.1.5 Operation
Systems including controllers must be equipped with additional monitoring and protection devices
according to the corresponding standards (e.g. technical equipment, regulations for prevention
of accidents, etc.). You are allowed to adapt the controller to your application as described in the
documentation.
DANGER!
• After the controller has been disconnected from the supply voltage, live components
and power connection must not be touched immediately, since capacitors could be
charged. Please observe the corresponding notes on the controller.
• Do not continuously cycle input power to the controller more than once every three
minutes.
• Please close all protective covers and doors during operation.
WARNING!
Network control permits automatic starting and stopping of the inverter drive. The system
design must incorporate adequate protection to prevent personnel from accessing
moving equipment while power is applied to the drive system.
Table 1: Pictographs used in these instructions
Pictograph Signal word Meaning Consequences if ignored
DANGER! Warning of Hazardous
Electrical Voltage.
Reference to an imminent danger that
may result in death or serious personal
injury if the corresponding measures
are not taken.
WARNING! Impending or possible
danger for persons
Death or injury
STOP! Possible damage to
equipment
Damage to drive system or its
surroundings
NOTE Useful tip: If observed, it will
make using the drive easier
1.2 Reference Documentation
• SV01, SMVector Operating Instructions, Technical Library: http://www.lenzeamericas.com
• AN0022, Getting Started with CANopen (PS & SMV Drives), Technical Library: http://www.lenzeamericas.com
• CiA Specifications, EN 50325-4, CAN in Automation: http://www.can-cia.org

CMVCAN01B 4
Introduction
2 Introduction
This reference guide assumes that the reader has a working knowledge of CANopen Fieldbus
Protocol and familiarity with the programming and operation of motion control equipment. This
guide is intended as a reference only.
2.1 Overview
CANopen Fieldbus is an internationally accepted communications protocol designed for
commercial and industrial installations of motion control applications. High data transfer rates
combined with it’s efficient data formatting permit the coordination of motion control devices
in multi-axis applications. AC Tech’s implementation of the CANopen protocol allows for baud
rates ranging from 10 kbps to 1Mbps.
DSP402 compatible control and status words are available to the user for configuring modes of
operation and altering the drive operating parameters. Additionally, to offer greater interoperability
with the SMVector inverter, a drive specific set of objects are available that offer further drive
profile configuration and allow access to specific modes of operation.
2.2 SMVector CANopen Implementation Specifications
• Supported data rates (bit/s): 1.0M, 800k, 500k, 250k, 125k, 50k, 20k, 10k.
• 2 transmit and 2 receive process data objects (PDOs) supported.
• Synchronous, Asynchronous and Change of State PDO communications modes supported.
• Two Service Data Objects (SDO) provide access to all SMV parameters
• Heartbeat and Node guarding with selectable timeout action
• DSP402 compatible Control and Status Words accessible via PDO and SDO.
To set up the CANopen Master, AC Tech provides the applicable EDS (Electronic Data Sheet).
2.3 Module Identification Label
Figure 1 illustrates the labels on the SMV CANopen communications module. The SMVector
CANopen-DP module is identifiable by:
• Two labels affixed to either side of the module.
• The color coded identifier label in the center of the module.
A: Fieldbus Protocol
B: Model Number
C: Lenze Order Number
D: Firmware Revision
E: Hardware Revision
SMV CAN
TYPE: ESVZAC0
ID-NO: 12345678
ESVZAC0-000XX1A10
A
B
C
D
E
Left-hand Label:
Module Data
Right-hand Label:
Ratings & Certifications
C0
Fieldbus Identifier:
C = CANopen
LISTED
COMM I/O ONLY
S/N: 123456789
Figure 1: CANopen Module Labels

5 CMVCAN01B
Installation
3 Installation
3.1 Mechanical Installation
1. Ensure that for safety reasons the AC supply has been disconnected before opening the
terminal cover.
2. Insert the CANopen option module in the terminal cover and securely “click” into position as
illustrated in Figure 2.
3. Wire the network cables as detailed in paragraph 3.3, Electrical Installation, to the connector
provided and plug the connector into the option module.
4. Align terminal cover for re-fitting, connect the module umbilical cord to the drive then close
the cover and secure, as shown in Figure 3.
7mm
<_ 2.8 mm
(12-22 AWG)
0.5 Nm/ 4.5 lb-in
12345
NEMA 1 (IP31) Models NEMA 4X (IP65) Models
Figure 2: Installing the CANopen Module
NEMA 1 (IP31) Models NEMA 4X (IP65) Models
Figure 3: Re-installing the Terminal Cover

CMVCAN01B 6
Installation
3.2 CANopen Terminal Block
Table 2 identifies the terminals and describes the function of each. Table 2 also provides an
illustration of the 5-pole 5mm CANopen connector.
Table 2: CANopen Terminals
Terminal Description Important Connector
1 CAN_GND: CAN earth ground
For reliable communication make sure
terminal CAN_GND is connected to CAN
network GND/common. If only two wires are
used (CAN_H and CAN_L) in the network,
connect CAN_GND to chassis/earth ground.
12345
2 CAN_L: CAN low If controller is located at either end of the
network, a terminating resistor (120ohm
typical) should be connected across CAN_L
and CAN_H
3
4 CAN_H: CAN high
5
Protection against contact
• All terminals have basic isolation (single insulating distance)
• Protection against contact can only be ensured by additional measures (i.e. double insulation)
3.3 Electrical Installation
3.3.1 Cable Types
Due to the high data rates used on CANopen networks it is paramount that correctly specified
quality cable is used. The use of low quality cable will result in excess signal attenuation and
data loss.
3.3.2 Network Limitations
There are several limiting factors that must be taken into consideration when designing a
CANopen network, however, here is a simple checklist:
• CANopen networks are limited to a maximum of 127 nodes.
• Only 32 nodes may be connected on a single network segment.
• A network may be built up from one or several segments with the use of network repeaters.
• Maximum total network length is governed by the data rate used. Refer to Table 3.
• Minimum of 1 meter of cable between nodes.
• Use fibre optic segments to:
−Extend networks beyond normal cable limitations.
−Overcome different ground potential problems.
−Overcome very high electromagnetic interference.
• Spurs or T connections while sometimes useful reduce the network quality, therefore is
strongly advised not to uses spurs as extreme care must be taken during network design
phase so as to avoid problems.

7 CMVCAN01B
Installation
Table 3: Network Length Specifications
Baud Rate Maximum Network Length
10kbps 5000 meters
20kbps 2500 meters
50kbps 1000 meters
125kbps 500 meters
250kbps 250 meters
500kbps 100 meters
800kbps 50 meters
1Mbps 25 meters
3.3.3 Connections and Shielding
To ensure good system noise immunity all network cables should be correctly grounded:
• Minimum recommendation of grounding is that the network cable is grounded once in every
cubical.
• Ideally the network cable should be grounded on or as near to each drive as possible.
• For wiring of cable to the connector plug the unscreened cable cores should be kept as short
as possible; recommended maximum of 20mm.
NOTE:
As per the CiA specification (DRP303-1) it is recommend that the CAN_GND be
connected on all nodes. If this is not possible due to application or cable restrictions
then it is recommend that the CAN_GND terminal be connected to chassis/earth (PE).
Connect to
drive earth
(PE) 20mm
max
12345
Figure 4: Connector Wiring Diagram

CMVCAN01B 8
Installation
3.3.4 Network Termination
In high speed fieldbus networks such as CANopen it is essential to install the specified termination
resistors, i.e. one at both ends of a network segment. Failure to do so will result in signals being
reflected back along the cable which will cause data corruption. A 120W ¼W resistor should be
fitted to both ends of a network segment across the CAN_L and CAN_H lines.
12345
Figure 5: Termination Resistor Wiring Diagram
3.3.5 Network Schematic
Figure 6 illustrates an example CANopen network wiring diagram for the SMVector.
CAN Network
CANopen (NMT)
Master
SMV CANopen
Option Module
SMV CANopen
Option Module
CAN Network
Min 1m
Min 1m
120 Ω
120 Ω
CAN_L CAN_HCAN_GND CAN_L CAN_H CAN_GND CAN_L CAN_HCAN_GND
Figure 6: Network Wiring Diagram
NOTE:
As per the CiA specification (DRP303-1) it is recommend that the CAN_GND be
connected on all nodes. If this is not possible due to application or cable restrictions
then it is recommend that the CAN_GND terminal be connected to chassis/earth (PE).

9 CMVCAN01B
Commissioning
4 Commissioning CANopen Communications
Following installation of the CANopen communications module,
4.1 Quick Set-up
With drive power disconnected connect the CANopen communication module and network cable
to the drive as shown in the preceding section.
NOTE:
If CANopen network is already operational do NOT connect the network connector
until the Node ID and Baud rate parameters on installed drive are setup correctly.
Apply Power to the drive. In drive parameter menu, select parameter P400 Network Protocol and
set it to 3 -- CANopen. After this action, the module will be initialized with CANopen protocol and
will enter Online mode - P402 = 3.
To monitor and control the drive via network, the following parameters should be set as a
minimum:
P410 Node Id (default 1)
P411 Baud Rate (default 5 = 500 kbps)
P100 Start Control Source - Network control can be taken in any mode of operation
except when P100 = 2 Remote Keypad Only.
NOTE:
If P100 is not equal 0, TB1 must be connected to TB4 in order to
start the drive.
P112 Rotation - Set this parameter to Forward and Reverse (1) if operation in both
directions is required.
P121
P122
or
P123
One of these parameters must be set to 9 - Network Enable and corresponding
terminal must be closed in order to take network control and start via network.
P304 Motor Rated frequency, P305 Motor Rated Speed - if Network speed needs to
be scaled in RPMs units; those parameters must be set accordingly to motor
nameplate.
To activate changes made to P400 and P401 use P418 Reset CAN node parameter or recycle
the power.
If no other CANopen parameter has been modified the drive will enter CANopen Pre-operational
state (see P412, P419) and every 2 seconds (P416) will transmit a heartbeat message.
As a default, RPDO#1 (P44x) and TPDO#1 (P46x) are active when the CANopen state is
switched to the operational state.

CMVCAN01B 10
Commissioning
5 Extended Parameters for CANopen
In addition to the drive parameters (detailed in the Operating Instructions, SV01, that accompanied
the drive), the installation of the CANopen module will give access to the 400 series parameters
that are used exclusively for the CANopen communications module.
5.1 Parameter Menu
Code Possible Settings IMPORTANT
No. Name Default Selection
CANopen Module Specific parameters
P400 Network Protocol 0 Not Active
3 CANopen
P 0 Module Revision 02.0.0 Display reads 02.x.x where:
02 = CANopen Module
x.x = Module Revision
Read only
P402 Module Status 0 0 Not Initialized
Read only
1 Initialization: Module to EPM
2 Initialization: EPM to Module
3 Online
4 Failed Initialization Error
5 Time-out Error
6 Initialization Failed Module type mismatch (P 1)
7 Initialization Error Protocol Selection mismatch ( 00)
P403 Module Reset 0 0 No Action
1 Reset Module parameter values to
default.
Returns module parameters 401…499 to
the default values shown in this manual.
P 0 Module Time-out
Action
3 0 Ignore • Action to be taken in the event of a
Module/Drive Time-out.
• Time-out is fixed at 200ms.
• Selection 1 (STOP) is by the method
selected in 1 1.
1 STOP (see 1 1)
2 Quick Stop
3 Fault ( )
P 0 Network Fault 0 0 No Fault
Read only
1 Guard Time Fault F 1
2 Message Monitor Fault 2
3 RPD1 Time-out Fault F
4 RPD2 Time-out Fault F F
P 0 Proprietary Manufacturer specific Read only

11 CMVCAN01B
Commissioning
Code Possible Settings IMPORTANT
No. Name Default Selection
CANopen/System bus parameters
P 10( ) CAN address
(Node ID)
1 1 127 If P413 = 0, 1: maximum setting = 63
P 1 ( ) CAN baud rate 5 0 10 kbps (max distance = 5000m)
1 20 kbps (max distance = 2500m)
2 50 kbps (max distance = 1000m)
3 125 kbps (max distance = 500m)
4 250 kbps (max distance = 250m)
5 500 kbps (max distance = 100m)
6 800 kbps (max distance = 50m)
7 1000 kbps (max distance = 25m)
P 12( ) CAN Bootup
mode
0 0 Pre-operational • P412 = 0: Controller enters pre-
operational state
• P412 = 1: Controller enters operational
state automatically (Slave with autostart
enabled 0x1F80 NMT bootup - bit 2)
• P412 = 2: Controller sends “NMT start
all nodes” after boot-up time (P415) and
enters operational state (not NMT master)
1 Operational
2 Pseudo master mode
P 1 ( ) Parameter
channel 2 (SDO#2
support for Lenze
Systembus)
2 0 Enable: Node ID range (1...63)
with default COB ID for RPDO and
TPDO
• P413 = 0, 1: CAN address
1...63 used for SD01
64...127 used for SDO2_
• SDO#1 COB ID = 1536 + Node ID
• SDO#2 COB ID = 1600 + Node ID
(if enabled)
Default settings:
RPDO#1: COB ID = 0x200 + Node ID
RPDO#2: COB ID = 0x300 + Node ID
TPDO#1: COB ID = 0x180 + Node ID
TPDO#2: COB ID = 0x280 + Node ID
1 Enable: Node ID range (1...63)
with programmable COB ID using
P440, P450, P460, P470
2 Disable: Node ID range (1...127)
with default COB ID for RPDO and
TPDO
3 Disable: Node ID range (1...127)
with programmable COB ID using
P440, P450, P460, P470
P 1 SYNC COB ID 128 0 2047 Controller does not generate SYNC object
P 5 )Boot up time 3000 0 {ms} 65535 Controller sends “NMT start all nodes”
message after this delay (active only when
P412 = 2)
P 1 Heartbeat time 2000 0 {ms} 65535 • Producer heartbeat time
• P416 = 0 disables heartbeat transmission
P 18 Reset CAN node 0 0 No action On transition from 0 to 1, re-initializes CAN
controller and activates changes made to
parameters marked with (1)
1 Reset CAN communication
WARNING!
CAN re-initialization may activate new RPDO configurations, which can result in
changes to present controller state, including starting.
(1): These parameters take effect only after power-up, P418 reset, “NMT reset node”, or “NMT reset communication services”

CMVCAN01B 12
Commissioning
Code Possible Settings IMPORTANT
No. Name Default Selection
P 9 CANopen status 0 Not initialized • Read-only
• Note: RPDOs and TPDOs are only active
in operational state (P419 = 5)
1 Initializing
2 Stopped
3 Pre-operational
4 reserved
5 Operational
P 20 Guard time 0 0 {ms} 65535 • P420 x P421 = node life time
• If RTR frame with ID = 0x700 + Node ID
(P410) is not received during the node life
time, the controller will react according to
P422
• If heart beat message is enabled, the
guard function is disabled
• P422 is only active when drive is
in Network Control mode ( xxx)
and at least one RTR frame with
ID=0x700+NODE ID has been received
P Life time factor 0 0 255
P422 Guard time event
reaction
0 0 Not active
1 STOP (see 1 1)
2 Quick stop
3 Inhibit
4 Trip fault F F
P 3 Error behavior 1 0 transition to pre-operational
(only if current state is operational)
Specifies action taken by the drive when it
encounters a communication error
(ex. Node guarding event or Bus Off)
1 No state change
2 transition to stopped
P 2 Message
monitoring time
0 0 {ms} 65535 • P425 and P426 can be used to monitor
all valid messages (e.g. SDO, SYNC,
PDO...)
• P425 = 0 or P426 = 0 disables message
monitoring function
• P426 is only active when drive is in
Network Control Mode ( xxx)
P 2 Message
monitoring time
out reaction
0 0 Not active
1 STOP (see 1)
2 Quick stop
3 Inhibit
4 Trip fault F
P 27 Monitoring time-
out status
Bits: • Read-only
• Indicates cause of F.nt (trip fault, inhibit,
quick stop, or Stop) depending on the
settings of P422, P426, P445, P455
0 Guard time time-out
1 No valid message received
2 RPD01 time-out
3 RPD02 time-out
4 reserved
5 reserved
6 reserved
7 reserved
P 9 CAN Peripheral
Status
Bits: • Read-only
• CAN warnings and errors
0 Error passive mode
1 Bus off mode
2 CAN Enabled
3 Receiver busy
4 Transmitter busy
5 Transmit error count > 128
6 Overload frame
7 Receive error count > 128

13 CMVCAN01B
Commissioning
Code Possible Settings IMPORTANT
No. Name Default Selection
RPDO#1 Configuration Parameters
P 40 )RPDO#1 COB ID 513 0 2047 If P413 = 0, 2: Setting will change to 512 +
Node ID during power-up or P418 reset.
NOTE
COB ID can only be changed when P441 = 0 (Disabled)
P 4 RPDO#1
enable/disable
1 0 Disable
1 Enable
WARNING!
CAN re-initialization may activate new RPDO configurations, which can result in
changes to present controller state, including starting.
P 2 RPDO#1
transmission type
255 0 255 • P442 = 0...240: transfer on every SYNC
received.
• P442 = 254, 255: immediate transfer
P 4 RPDO#1 event
monitoring timer
0 0 {ms} 65535 P444 = 0: monitoring disabled
P 4 RPDO#1 time out
reaction
0 0 Not active Only active when in Network Control
( xxx)
1 STOP (see P )
2 Quick stop
3 Inhibit
4 Trip fault
P 4 )RPDO#1 mapping
(see RPDO
mapping details)
2 0 DSP402 (Drives & Motion Control):
PDO Control Word 0x6040
1 DSP402 (Drives & Motion Control):
PDO Control Word 0x6040 +
vl target velocity 0x6042
• vl target velocity units = signed RPM.
• RPM calculation based on P304 and P305
2 Drive Control Word + Network
Speed
Network Control Frequency Scaling:
10 = 1.0 Hz
3 Drive Control Word + PID Setpoint Signed PID Setpoint: -999 … 31,000
4 Drive Control Word + Torque
Setpoint
Torque Setpoint: 0…400%
P 49 RPDO#1 counter 0 255 • Read-only
• Number of received RPDO#1 messages
• Above 255, starts over at 0
RPDO#2 Configuration Parameters
P 50( ) RPDO#2 COB ID 769 0 2047 If P413 = 0, 2: Setting will change to 768 +
Node ID during power-up or P418 reset.
NOTE
COB ID can only be changed when P451 = 0 (Disabled)
P 5 RPDO#2
enable/disable
0 0 Disable
1 Enable
WARNING!
CAN re-initialization may activate new RPDO configurations, which can result in
changes to present controller state, including starting.
(2): These parameters take effect only after power-up, P418 reset, P441 transition from disable to enable, “NMT reset node”, or “NMT reset communication services”

CMVCAN01B 14
Commissioning
Code Possible Settings IMPORTANT
No. Name Default Selection
P 52 RPDO#2
transmission type
255 0 255 • P452 = 0...240: transfer on every SYNC
received
• P452 = 254, 255: immediate transfer
P 5 RPDO#2 event
monitoring timer
0 0 {ms} 65535 P454 = 0: monitoring disabled
P 5 RPDO#2 time out
reaction
0 0 Not active Only active when in Network Control
( xxx)
1 STOP (see 1)
2 Quick stop
3 Inhibit
4 Trip fault F F
P 5 )RPDO#2 mapping
(see RPDO
mapping details)
2 0 DSP402 (Drives & Motion Control):
PDO Control Word 0x6040
1 DSP402 (Drives & Motion Control):
PDO Control Word 0x6040 +
vl target velocity 0x6042
• vl target velocity units = signed RPM.
• RPM calculation based on P304 and P305
2 Drive Control Word + Network
Speed
Network Control Frequency Scaling:
10 = 1.0 Hz
3 Drive Control Word + PID Setpoint Signed PID Setpoint: -999 … 31,000
4 Drive Control Word + Torque
Setpoint
Torque Setpoint: 0…400%
P 59 RPDO#2 counter 0 255 • Read-only
• Number of received RPDO#2 messages
• Above 255, starts over at 0
TPDO#1 Configuration Parameters
P 0 4) TPDO#1 COB ID 385 0 2047 If P413 = 0, 2: Setting will change to 384 +
Node ID during power-up or P418 reset.
NOTE
COB ID can only be changed when P461 = 0 (Disabled)
P TPDO#1
enable/disable
2 0 Disable
1 Enable (no RTR)
2 Enable (with RTR) Enable individual polling of TPDO#1
P462 TPDO#1
transmission type
255 0 255 • P462 = 0...240: Transmit TPDO#1 after
every nth SYNC received + Event + RTR
(if enabled)
• P462 = 253: Event + RTR (if enabled)
• P462 = 254: COS triggered (WORD0 of
TPDO#1) + Event + RTR (if enabled)
• P462 = 255: Event + RTR (if enabled)
P463 4) TPDO#1 inhibit
time
0.0 0.0 {0.1 ms} 65535 Sets minimum time between TPDO#1
transmissions.
(4): These parameters take effect only after power-up, P418 reset, P461 transition from disable to enable, “NMT reset node”, or “NMT reset communication services”
(3): These parameters take effect only after power-up, P418 reset, P451 transition from disable to enable, “NMT reset node”, or “NMT reset communication services”

15 CMVCAN01B
Commissioning
Code Possible Settings IMPORTANT
No. Name Default Selection
P TPDO#1 event
timer
0 0 {ms} 65535 • Sets the fixed interval for TPDO#1
transmission
• P464 = 0: disables event timer
P 6 (4) TPDO#1 mapping
(see TPDO
mapping details)
2 0 DSP402 (Drives & Motion
Control): Status Word 0x6041
1 DSP402 (Drives & Motion
Control): Status Word 0x6041 +
vl target velocity 0x6044
• vl control effort units = signed RPM.
• RPM calculation based on P304 and P305
2 Drive Status Word + Actual
Frequency + I/O
Actual Frequency Scaling: 10 = 1.0 Hz
3 Drive Status Word + Actual
Frequency + PID Setpoint
Signed PID Setpoint: -999 … 31,000
4 Drive Status Word + Actual
Frequency + Torque Setpoint
Torque Setpoint: 0…400%
5 Status Word matches the drives
Control Word
Setting used to control another
Drive. See Appendix A1.1.
P 67 TPDO#1 WORD0
bit mask
65535 0 65535 • COS (change of state) bit mask applied to
WORD0 of TPDO selected by P466.
• P467 = 65535: activates all bits of
WORD0 for COS triggering
• P467 = 0: disables COS triggering
• P462 = 254
P 9 TPDO#1 counter 0 255 • Read-only
• Number of transmitted TPDO#1 messages
• Above 255, starts over at 0
TPDO#2 Configuration Parameters
P 0 )TPDO#2 COB ID 641 0 2047 If P413 = 0, 2: Setting will change to 640 +
Node ID during power-up or P418 reset.
NOTE
COB ID can only be changed when P471 = 0 (Disabled)
P TPDO#2
enable/disable
0 0 Disable
1 Enable (no RTR)
2 Enable (with RTR) Enable individual polling of TPDO#2
P4 2 TPDO#2
transmission type
255 0 255 • P472 = 0...240: Transmit TPDO#2 after
every nth SYNC received + Event + RTR
(if enabled)
• P472 = 253: Event + RTR (if enabled)
• P472 = 254: COS triggered (WORD0 of
TPDO#2) + Event + RTR (if enabled)
• P472 = 255: Event + RTR (if enabled)
P4 3 )TPDO#2 inhibit
time
0.0 0.0 {0.1 ms} 65535 Sets minimum time between TPDO#2
transmissions.
(5): These parameters take effect only after power-up, P418 reset, P471 transition from disable to enable, “NMT reset node”, or “NMT reset communication services”
(4): These parameters take effect only after power-up, P418 reset, P461 transition from disable to enable, “NMT reset node”, or “NMT reset communication services”

CMVCAN01B 16
Commissioning
Code Possible Settings IMPORTANT
No. Name Default Selection
P TPDO#2 event
timer
0 0 {ms} 65535 • Sets the fixed interval for TPDO#2
transmission
• P474 = 0: disables event timer
P( ) TPDO#2 mapping
(see TPDO
mapping details)
2 0 DSP402 (Drives & Motion
Control): Status Word 0x6041
1 DSP402 (Drives & Motion
Control): Status Word 0x6041 +
vl target velocity 0x6044
• vl control effort units = signed RPM.
• RPM calculation based on P304 and P305
2 Drive Status Word + Actual
Frequency + I/O
Actual Frequency Scaling: 10 = 1.0 Hz
3 Drive Status Word + Actual
Frequency + PID Setpoint
Signed PID Setpoint: -999 … 31,000
4 Drive Status Word + Actual
Frequency + Torque Setpoint
Torque Setpoint: 0…400%
5 Status Word matches the drives
Control Word
Setting used to control another
Drive. See Appendix A1 - Example 1.
P TPDO#2 WORD0
bit mask
65535 0 65535 • COS (change of state) bit mask applied to
WORD0 of TPDO selected by P476.
• P477 = 65535: activates all bits of
WORD0 for COS triggering
• P477 = 0: disables COS triggering
• P472 = 254
P 9 TPDO#2 counter 0 255 • Read-only
• Number of transmitted TPDO#2 messages
• Above 255, starts over at 0
CANopen Module Specific Parameters
P 9 Communication
Module software
version
• Read only
• Alternating Display: xxx-; -yy
P 98 Missed Messages
Drive to Module
• Read only
P 99 Missed Messages
Module to Drive
• Read only
(5): These parameters take effect only after power-up, P418 reset, P471 transition from disable to enable, “NMT reset node”, or “NMT reset communication services”

17 CMVCAN01B
Commissioning
5.2 CANopen Mapping Details
The tables in the following sections may use descriptions from the CANopen DSP 402 standard.
This terminology should not be interpreted as referring to drive hardware.
5.2.1 RPDO Mapping (P446/P456)
WORD0 - DSP402 control word 0x6040
Bit P446 / P456 setting = 0
WORD0 - DSP402 control word 0x6040
Bit P446 / P456 setting = 1
0
Output Switch(6)
0 = switch OFF (i)
1 = switch ON (e)
0
Output Switch(6)
0 = switch OFF (i)
1 = switch ON (e)
1
Voltage Enable(6)
0 = Disable Voltage (i)
1 = Enable Voltage (e)
1
Voltage Enable(6)
0 = Disable Voltage (i)
1 = Enable Voltage (e)
2
Quick stop
0 = Quick stop active
1 = Quick stop not active
2
Quick stop
0 = Quick stop active
1 = Quick stop not active
3
Controller inhibit(6)
0 = Controller inhibit (i)
1 = No controller inhibit (e)
3
Controller inhibit(6)
0 = Controller inhibit (i)
1 = No controller inhibit (e)
4 Reserved 4 Reserved
5 Reserved 5 Reserved
6 Reserved 6 Reserved
7 Fault Reset: on transition from 0 to 1 7 Fault Reset: on transition from 0 to 1
8
Motion Inhibit(6)
0 = execute motion (e)
1 = halt (i)
8
Motion Inhibit(6)
0 = execute motion (e)
1 = halt (i)
9 Reserved 9 Reserved
10 Reserved 10 Reserved
11
Direction of rotation
0 = CW (forward)
1 = CCW (reverse)
11
Direction of rotation
0 = CW (forward)
1 = CCW (reverse)
12
Control
0 = Local Control
1 = Network Control
12
Control
0 = Local Control
1 = Network Control
13
Speed Reference
0 = Local Reference
1 = Network Reference
13
Speed Reference
0 = Local Reference
1 = Network Reference
14
DC brake
0 = DC brake not active
1 = DC brake active
14
DC brake
0 = DC brake not active
1 = DC brake active
15 Reserved 15 Reserved
WORD1
Signed vl target velocity 0x6042 (RPM)
• RPM calculation based on P304 and P305
• Example 1: P304 = 60Hz; P305 = 1750 RPM
request setpoint forward (CW) at 25.0 HZ =
25.0 x 1750/60 = 729 = 0x02D9
• Example 2: P304 = 50Hz; P305 = 1390 RPM
request setpoint reverse (CCW) at 44.5 HZ =
-(44.5 x 1390/50) = -1237 = 0xFB2B
Note: sign of the target velocity takes priority
over bit 11 in word 0!
(6): Action of indicated bit is implemented as inhibit. These bits inhibit the drive when in the state indicated with (i) and enable the drive in the state indicated with (e).

CMVCAN01B 18
Commissioning
Bit P446 / P456 setting = 2 Bit P446 / P456 setting = 3
0
Run Forward
0 = NOT Run Forward
1 = Run Forward
0
Run Forward
0 = NOT Run Forward
1 = Run Forward
1
Run Reverse
0 = NOT Run Reverse
1 = Run Reverse
1
Run Reverse
0 = NOT Run Reverse
1 = Run Reverse
2 Fault Reset: on transition from 0 to 1 2 Fault Reset: on transition from 0 to 1
3 Reserved 3 Reserved
4 Reserved 4 Reserved
5
Control
0 = Local Control
1 = Network Control
5
Control
0 = Local Control
1 = Network Control
6
Speed Reference
0 = Local Reference
1 = Network Reference
6
Speed Reference
0 = Local Reference
1 = Network Reference
7 Reserved 7 Reserved
8 Network setpoint/reference (when Bit 6 = 1)
0 - Network 6 - Preset #3
1 - Keypad 7 - Preset #4 (7)
2 - 0-10VDC 8 - Preset #5 (7)
3 - 4-20mA 9 - Preset #6 (7)
4 - Preset #1 10 - Preset #7 (7)
5 - Preset #2 11 - MOP
8 Network setpoint/reference (when Bit 6 = 1)
0 - Network 6 - Preset #3
1 - Keypad 7 - Preset #4 (7)
2 - 0-10VDC 8 - Preset #5 (7)
3 - 4-20mA 9 - Preset #6 (7)
4 - Preset #1 10 - Preset #7 (7)
5 - Preset #2 11 - MOP
9 9
10 10
11 11
12
Controller inhibit
0 = No controller inhibit
1 = Controller inhibit
12
Controller inhibit
0 = No controller inhibit
1 = Controller inhibit
13
Quick stop
0 = Quick stop not active
1 = Quick stop active
13
Quick stop
0 = Quick stop not active
1 = Quick stop active
14
Force Mode (Network / PID modes only)
0 = No Action
1 = Force Manual / Open Loop Mode
14
Force Mode (Network / PID modes only)
0 = No Action
1 = Force Manual / Open Loop Mode
15
DC brake
0 = DC brake not active
1 = DC brake active
15
DC brake
0 = DC brake not active
1 = DC brake active
WORD1
Unsigned speed 0.1 Hz resolution
• Received value = 0x01F0 = 49.6 Hz
WORD1
Network PID setpoint
Signed value -999…3100
WORD2
Digital Output and Relay; Active when:
• Bit 9 = Open Collector (and P142 = 25)
• Bit 10 = Relay (and P140 = 25)
Others reserved for future use
WORD2
Digital Output and Relay; Active when:
• Bit 9 = Open Collector (and P142 = 25)
• Bit 10 = Relay (and P140 = 25)
Others reserved for future use
WORD3
Analog Output [0.01 VDC]; Active when P150 = 9
• Received value = 0x024B = 5.87 VDC
WORD3
Analog Output [0.01 VDC]; Active when P150 = 9
• Received value = 0x024B = 5.87 VDC
(7): Preset #4, #5, #6 and #7 are ignored when the drive is operating in either PID Mode or Torque Mode.