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).