Lenze L-force 930 Use and care manual

KHB 13.0002-EN
.4&ø
Ä.4&øä
Communication Manual
Servo Drives 930

931E
CANopen
L-force Drives
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
2KHB 13.0002-EN 2.0
This documentation applies to 931E servo inverters.
Document history
Material No. Version Description
.4&ø 2.0 02/2007 TD19 First edition
0Fig. 0Tab. 0
Tip!
Current documentation and software updates concerning Lenze products can be found on
the Internet in the ”Services & Downloads” area under
http://www.Lenze.com
Important note:
Software is provided to the user ”as is”. All risks regarding the quality of the software and any results obtained from its use
remain with the user. The user should take appropriate security precautions against possible maloperation.
We do not accept any responsibility for direct or indirect damage caused, e.g. loss of profit, loss of orders or adverse
commercial effects of any kind.
All trade names listed in this documentation are trademarks of their respective owners.
© 2007 Lenze GmbH & Co KG Kleinantriebe, Hans-Lenze-Straße 1, D-32699 Extertal
No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze GmbH &
Co KG Kleinantriebe.
All information given in this documentation has been selected carefully and complies with the hardware and software described.
Nevertheless, discrepancies cannot be ruled out. We do not take any responsibility or liability for any damage that may occur.
Necessary corrections will be included in subsequent editions.
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Contents i
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1Preface 7..................................................................
1.1 Introduction 7.........................................................
1.2 About this Communication Manual 8.....................................
1.3 Legal regulations 9.....................................................
2 Safety instructions 10.........................................................
2.1 Persons responsible for safety 10..........................................
2.2 General safety instructions 11.............................................
2.3 Definition of notes used 12...............................................
3 Technical data 13............................................................
3.1 Communication data 13.................................................
4 Electrical installation 14.......................................................
4.1 Wiring according to EMC 14..............................................
4.2 Electrical connections of CANopen 15......................................
4.3 Connection of CAN bus slave 16...........................................
4.4 Connection of CAN bus master 17.........................................
5 CANopen communication 18...................................................
5.1 About CANopen 18......................................................
5.1.1 Structure of the CAN data telegram 18..............................
5.1.2 Identifier 19....................................................
5.1.3 Node address (node ID) 19........................................
5.1.4 User data 20....................................................
5.2 Parameter data transfer (SDO transfer) 21..................................
5.2.1 Telegram structure 21............................................
5.2.2 Reading parameters (example) 25..................................
5.2.3 Writing parameters (example) 26..................................
5.3 Process data transfer (PDO transfer) 27.....................................
5.3.1 Telegram structure 27............................................
5.3.2 Available process data objects 27..................................
5.3.3 Objects for PDO parameterisation 28...............................
5.3.4 Description of the objects 37......................................
5.3.5 Example of a process data telegram 39.............................
5.3.6 Activation of the PDOs 40.........................................
5.4 Sync telegram 41........................................................
5.4.1 Telegram structure 41............................................
5.4.2 Synchronisation of the process data 41.............................
5.4.3 Description of the objects 42......................................
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Contentsi
4KHB 13.0002-EN 2.0
5.5 Network management (NMT) 43..........................................
5.5.1 Communication phases of the CAN network (NMT) 43................
5.5.2 Telegram structure 44............................................
5.6 Emergency telegram 46..................................................
5.6.1 Telegram structure 46............................................
5.6.2 Description of the objects 48......................................
5.7 Heartbeat telegram 49...................................................
5.7.1 Telegram structure 49............................................
5.7.2 Description of the objects 51......................................
5.8 Boot-up telegram 52.....................................................
5.8.1 Telegram structure 52............................................
6 Commissioning 53...........................................................
6.1 Activation of CANopen 53................................................
6.2 Speed control 54........................................................
6.2.1 Parameterising of a process data object (TPDO and RPDO) 54...........
6.2.2 Parameterising of the motor and the current controller 57.............
6.2.3 Parameterising of the speed control 58.............................
6.2.4 Running through the state machine 59.............................
6.3 Position control 61......................................................
6.3.1 Parameterising of the homing run 61...............................
6.3.2 Running through the state machine 63.............................
7 Parameter setting 67.........................................................
7.1 Loading and saving of parameter sets 67...................................
7.1.1 Overview 67....................................................
7.1.2 Description of the objects 69......................................
7.2 Conversion factors (factor group) 70.......................................
7.2.1 Overview 70....................................................
7.2.2 Description of the objects 72......................................
7.3 Power stage parameters 74...............................................
7.3.1 Overview 74....................................................
7.3.2 Description of the objects 74......................................
7.4 Current controller and motor adaptation 76.................................
7.4.1 Overview 76....................................................
7.4.2 Description of the objects 77......................................
7.5 Speed controller 79......................................................
7.5.1 Overview 79....................................................
7.5.2 Description of the objects 79......................................
7.6 Position controller (position control function) 80.............................
7.6.1 Overview 80....................................................
7.6.2 Description of the objects 82......................................
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7.7 Analog inputs 85........................................................
7.7.1 Overview 85....................................................
7.8 Digital inputs and outputs 85.............................................
7.8.1 Overview 85....................................................
7.8.2 Description of the objects 85......................................
7.9 Limit switches 86.......................................................
7.9.1 Overview 86....................................................
7.9.2 Description of the objects 86......................................
7.10 Device information 87...................................................
7.10.1 Description of the objects 87......................................
8 Device control 88............................................................
8.1 State diagram 88........................................................
8.1.1 Overview 88....................................................
8.1.2 State diagram of the drive controller 89.............................
8.1.3 States of the drive controller 91....................................
8.1.4 State transitions of the drive controller 92...........................
8.1.5 Control word 93.................................................
8.1.6 Controller state 96...............................................
8.1.7 Status word 97..................................................
9Operatingmodes 99..........................................................
9.1 Setting of the operating mode 99..........................................
9.1.1 Overview 99....................................................
9.1.2 Description of the objects 99......................................
9.2 Speed control 101........................................................
9.2.1 Overview 101....................................................
9.2.2 Description of the objects 103......................................
9.3 Homing 104.............................................................
9.3.1 Overview 104....................................................
9.3.2 Description of the objects 105......................................
9.3.3 Control of the homing run 106......................................
9.4 Positioning 107..........................................................
9.4.1 Overview 107....................................................
9.4.2 Description of the objects 108......................................
9.4.3 Functional description 109.........................................
9.5 Synchronous position selection 111.........................................
9.5.1 Overview 111....................................................
9.5.2 Description of the objects 112......................................
9.5.3 Functional description 114.........................................
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Contentsi
6KHB 13.0002-EN 2.0
9.6 Torque control 117.......................................................
9.6.1 Overview 117....................................................
9.6.2 Description of the objects 118......................................
10 Appendix 119................................................................
10.1 Index table 119..........................................................
11 Index 143....................................................................
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Preface
Introduction
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1Preface
1.1 Introduction
The competitive situation in the mechanical and system engineering sector requires new
means to optimise the production costs. This is why modular machine and system
engineering is becoming increasingly more important, since individual solutions can now
be set up easily and cost-effectively from a single modular system.
Lenze fieldbus systems in industrial applications
For an optimal communication between the single modules of a system, fieldbus systems
are increasingly used for process automation. Lenze offers the following communication
modules for the standard fieldbus systems:
ƒPROFIBUS-DP
ƒCANopen
Decision support
The decision for a fieldbus system depends on many different factors. The following
overviews will help you to find the solution for your application.
PROFIBUS-DP
For bigger machines with bus lengths of more than 100 metres, INTERBUS orPROFIBUS-DP
(PROFIBUS-Decentralised Periphery) are frequently used. The PROFIBUS-DP is always used
together with a master control (PLC) – here the PROFIBUS master transmits e.g. the
setpoints to the single PROFIBUS stations (e. g. Lenze controllers).
When using the data transferrate of 1.5 Mbps typical forthePROFIBUS-DP,the sensors and
actuators receive the process data. Due to the data transmission mode and the telegram
overhead, a bus cycle time results at 1.5 Mbps, which is sufficient to control e. g. conveyors.
If, for technical reasons, the process data must be transmitted faster to the sensors and
actuators, the PROFIBUS can also be operated with a data transmission rate of maximally
12 Mbps.
CANopen
CANopen is a communication protocol specified to the CiA (CAN inAutomation) user
group. Lenze can provide communication modules for controls with CANopen masters.
These modules are compatible with the specification DS 301 V4.01.
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Preface
About this Communication Manual
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1.2 About this Communication Manual
Target group
This manual is directed at all persons who carry out the dimensioning, installation,
commissioning and settings of the 931 series drive controllers.
Together with the catalogue, it provides the project planning basis for the manufacturer
of plants and machinery.
Contents
The CAN manual supplements the software manual and mounting instructions which are
included in the scope of supply:
ƒThe features and functions are described in detail.
ƒIt provides detailed information on the possible applications.
ƒParameter setting is explained with the help of examples.
ƒIn case of doubt, the supplied mounting instructions are always valid.
How to find information
ƒThe table of contents and the index help you to find all information about a certain
topic.
ƒDescriptions and data on other Lenze products can be found in the corresponding
catalogues, operating instructions and manuals.
ƒYou can request Lenze documents from your responsible Lenze sales partner or
download it as a PDF file from the Internet.
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Preface
Legal regulations
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1.3 Legal regulations
Labelling Nameplate CE identification Manufacturer
Lenze drive controllers are definitely
identified by the contents of the
nameplate.
In compliance with the EC
Low-Voltage Directive
Lenze GmbH & Co KG
Kleinantriebe
Postfach 10 13 52
D-31763 Hameln
Application as
directed
931E servo inverters
zmust only be operated under the operating conditions prescribed in these Instructions.
zare components
– for open and closed loop control of variable speed drives with synchronous motors.
– for installation in a machine
– for assembly with other components to form a machine.
zare electric units for the installation into control cabinets or similar closed electrical operating areas.
zcomply with the requirements of the Low-Voltage Directive.
zare not machines for the purpose of the Machinery Directive.
zare not to be used as domestic appliances, but only for industrial purposes.
Drive systems with 931E servo inverters
zcomply with the EMC Directive if they are installed according to the guidelines of CE-typical drive systems.
zcan be used
– for operation on public and non-public mains
– for operation in industrial premises.
zThe user is responsible for the compliance of his application with the EC Directives.
Any other use shall be deemed as inappropriate!
Liability zThe information, data, and notes in these instructions met the state of the art at the time of printing. Claims
on modifications referring to controllers which have already been supplied cannot be derived from the
information, illustrations, and descriptions.
zThe specifications, processes, and circuitry described in these Instructions are for guidance only and must be
adapted to your own specific application. Lenze does not take responsibility for the suitability of the process
and circuit proposals.
zLenze does not accept any liability for damage and operating interference caused by:
– disregarding the Operating Instructions
– unauthorised modifications to the drive controllers
– operating errors
– improper working on and with the drive controllers
Warranty zTerms of warranty: see Sales and Delivery Conditions of Lenze GmbH & Co KG Kleinantriebe.
zWarranty claims must be made to Lenze immediately after detecting the deficiency or fault.
zThe warranty is void in all cases where liability claims cannot be made.
Disposal Material Recycle Dispose
Metal D-
Plastic D-
Assembled PCBs -D
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Safety instructions
Persons responsible for safety
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10 KHB 13.0002-EN 2.0
2 Safety instructions
2.1 Persons responsible for safety
Operator
An operator is any natural or legal person who uses the drive system or on behalf of whom
the drive system is used.
Theoperatororhissafetyofficerisobliged
ƒto ensure the compliance with all relevant regulations, instructions and legislation.
ƒto ensure that only qualified personnel work on and with the drive system.
ƒto ensure that the personnel have the Operating Instructions available for all work.
ƒto ensure that all unqualified personnel are prohibited from working on and with
the drive system.
Qualified personnel
Qualified personnel are persons who - due to their education, experience, instructions, and
knowledge about relevant standards and regulations, rules for the prevention of
accidents, and operating conditions - are authorised by the person responsible for the
safety of the plant to perform the required actions and who are able to recognise potential
hazards.
(Definition for skilled personnel to VDE 105 or IEC 364)
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Safety instructions
General safety instructions
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2.2 General safety instructions
ƒThese safety instructions are not claimed to be complete. In case of questions and
problems, please contact your Lenze representative.
ƒAt the time of delivery, the drive controller meets the state of the art and basically
ensures safe operation.
ƒThe information given in this manual refers to the specified hardware and software
versions of the modules.
ƒThe drive controller is a source of danger if
– unqualified personnel work with and on the drive controller.
– the drive controller is used inappropriately.
ƒThe procedural notes and circuit details given in this manual are suggestions and
their transferability to the respective application has to be checked.
ƒEnsure by appropriate measures that there is no risk of injury or death to persons or
risk of damage to property in the event of a drive controller failure.
ƒOperate the drive system only when it is in a proper state.
ƒRetrofittings, modifications or redesigns of the drive controller are basically
prohibited. Lenze must be contacted in all cases.
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Safety instructions
Definition of notes used
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2.3 Definition of notes used
The following signal words and symbols are used in this documentation to indicate
dangers and important information:
Safety instructions
Structure of safety instructions:
Danger!
(characterises the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Pictograph and signal word Meaning
Danger!
Danger of personal injury through dangerous electrical
voltage.
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.
Danger!
Danger of personal injury through a general source of danger.
Reference to an imminent danger that may result in death or
serious personal injury if the corresponding measures are not
taken.
Stop!
Danger of property damage.
Reference to a possible danger that may result in property
damage if the corresponding measures are not taken.
Application notes
Pictograph and signal word Meaning
Note! Important note to ensure trouble-free operation
Tip! Useful tip for simple handling
Reference to another documentation
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Technical data
Communication data
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3 Technical data
3.1 Communication data
Communication
Communication profile DS 301, DSP 402
Communication medium RS232
Network topology Without repeater: line / with repeaters: line or tree
CAN node Slave
Baud rate (in kbps) 10, 20, 50, 100, 125, 250, 500
Max. cable length per bus
segment
1200 m (dependent on baud rate and cable type used)
Bus connection RJ45
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Electrical installation
Wiring according to EMC
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4 Electrical installation
4.1 Wiring according to EMC
General notes zThe electromagnetic compatibility of the drive depends on the type of installation and the care taken.
Especially observe:
– Assembly
– Shielding
–Earthing
zIn the case of differing installations, the evaluation of the conformity to the EMC Directive requires the
system to be checked for compliance with the EMC limit values. This applies, for instance, to:
– Use of unshielded cables
zThe user is responsible for compliance with the EMC Directive.
– If the following measures are observed, you can assume that no EMC problems will occur during operation
and that the EMC Directive / EMC law is met.
– If devices are operated close to the system which do not meet the CE requirements regarding the noise
immunity according to EN 61000-4-2, these devices may be electromagnetically impaired by the drive.
Assembly zElectrical contacting of the mounting plate:
– Mounting plates with conductive surface (galvanised or stainless steel) enable a permanent contact.
– Painted plates are not suitable for an EMC-compliant installation.
zIf you use several mounting plates:
– Contact the mounting plates to each other over a large area (e.g. with copper strips).
zRoute signal cables separately from mains cables.
zRoute the cables as close as possible to the reference potential. Freely suspended cables act like aerials.
Shielding zIf possible, only use braided cables.
zThe overlap rate of the shield should be higher than 80%.
zAlways use metal or metallised connectors for the serial data cable coupling. Connect the shield of the data
cable to the connector shell.
zUsemetalcableclampstoattachtheshieldbraid.
zConnect the shield to the shield bus in the control cabinet.
zConnect the shields of analog control cables at one end.
Earthing zElectrical contacting of the mounting plate:
– Mounting plates with conductive surface (galvanised or stainless steel) enable a permanent contact.
– Painted plates are not suitable for an EMC-compliant installation.
zIf you use several mounting plates:
– Contact the mounting plates to each other over a large area (e.g. with copper strips).
zRoute signal cables separately from mains cables.
zRoute the cables as close as possible to the reference potential. Freely suspended cables act like aerials.
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Electrical installation
Electrical connections of CANopen
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4.2 Electrical connections of CANopen
LO LOLO LO
CG CGCG CGHI HIHI HI
X4.1 X4.1X4.2 X4.2
A2 A1An
PES PES
PES PES
CAN-GND
CAN-LOW
CAN-HIGH
120
12345
6789
120 W
120 W
931e_420
Fig. 1 Basic wiring of CANopen with Sub-D connector to the master
A1Node 1 - master (e.g. PLC)
A2Node 2 - slave (e.g. drive controller 931E)
AnNode n - slave, n = max. 128
Specification of the transmission cable
Please observe our recommendations for signal cables.
Bus cable specification
Cable resistance 135 - 165 Ω/km,(f=3-20MHz)
Capacitance per unit length ≤30 nF/km
Loop resistance < 110 Ω/km
Wire diameter >0.64mm
Wire cross-section >0.34mm
2
Wires double twisted, insulated and shielded
ƒConnection of the bus terminating resistors:
– One resistor of 120 Ωeach at the first and last bus node
ƒCommunication protocol
– CANopen (CAL-based communication profile DS 301/DSP 402)
ƒBus extension:
– 25 m for max. data transfer rate of 1 Mbps
– Up to 1 km for reduced data transfer speed
ƒSignal level according to ISO 11898
ƒUp to 128 bus nodes possible
ƒAccess to all Lenze parameters
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Electrical installation
Connection of CAN bus slave
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4.3 Connection of CAN bus slave
Features
ƒParameter selection
ƒData exchange between drive controllers
ƒConnection of operator and input devices
ƒConnection of higher-level controls
ƒBaud rates of 125, 250, 500 kBaud
Stop!
An external 120 Ωterminating resistor is required to terminate the bus system.
Connection plan for RJ45 socket
X4.1 / X4.2
931E-001.iso
Fig. 2 Connection of CAN bus (X4.1, X4.2)
Pin no. Meaning Comment
1CAN-HIGH CAN-HIGH (high is dominant)
2CAN-LOW CAN-LOW (low is dominant)
3CAN-GND CAN ground
4 — Reserved
5 — Reserved
6CAN-SHLD CAN shield (hardware version 1.1 and higher)
7CAN-GND CAN ground
8 — Reserved
Tip!
An RJ45 bus terminating connector is available for the 931E drive controllers.
Please contact Lenze.
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Electrical installation
Connection of CAN bus master
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4.4 Connection of CAN bus master
The below table shows the assignment of a 9-pin Sub-D socket such as provided by most
CAN masters for the connection of field devices.
Connection of the CAN bus to a 9-pin Sub-D socket
View Pin Signal Explanation
16
27
3
8
4
9
5
1 — Reserved
2CAN-LOW CAN-LOW (low is dominant)
3CAN-GND CAN ground
4 — Reserved
5(CAN-SHLD) Optional CAN shield
6(GND) Optional ground
7CAN-HIGH CAN-HIGH (high is dominant)
8 — Reserved
9(CAN-V+) Optional external CAN voltage supply
Tab. 1 CAN Sub-D socket
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CANopen communication
About CANopen
Structure of the CAN data telegram
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5 CANopen communication
5.1 About CANopen
The CANopen protocol is a standardised layer 7 protocol for the CAN bus. This layer is based
on the CAN application layer (CAL), which has been developed as a universal protocol.
In practice, however, it became clear that applications with CAL were too complex for the
user. CANopen is a uniform, easy-to-use structure which has been developed to provide a
connection for CAN devices from different manufacturers.
5.1.1 Structure of the CAN data telegram
Control field CRC delimit. ACK delimit.
Start RTR bit CRC sequence ACK slot End
Identifier Data
length
User data (0 ... 8 bytes)
zNetwork management
zProcess data
zParameter data
1bit 11 bits 1bit 2bits 4bits 15bits 1bit 1bit 1bit 7bits
Fig. 3 Basic structure of the CAN telegram
Note!
To the user, only the identifier, the data length and the user data are relevant.
All other data of the CAN telegram is automatically processed by the system.
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CANopen communication
About CANopen
Identifier
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5.1.2 Identifier
The principle of the CAN communication is based on a message-oriented data exchange
between one sender and many receivers. All nodes can send and receive
quasi-simultaneously.
The identifier in the CAN telegram - also called COB ID (communication object identifier)-
is used to control which node is to receive a sent message. In addition to the addressing,
the identifier contains information on the priority of the message and on the type of the
user data.
With the exception of the network management and the sync telegram, the identifier
contains the node address of the drive:
Identifier (COB ID) = basic identifier + adjustable node address (node ID)
The identifier assignment is specified in the CANopen protocol.
The ex works default setting of the basic identifier is:
Object Direction Basic identifier
From the drive To the drive Hex
NMT 0
Sync 80
Emergency X80
PDO1
(process data channel 1)
TPDO1 X180
RPDO1 X200
PDO2
(process data channel 2)
TPDO2 X280
RPDO2 X300
SDO1
(parameter data channel 1)
X580
X600
Heartbeat/boot-up X700
5.1.3 Node address (node ID)
Each node of the CAN network must be assigned with a node address (also called node ID)
within the valid address range for unambiguous identification.
ƒA node address may not be assigned more than once within a network.
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CANopen communication
About CANopen
User data
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5.1.4 User data
The master and the drive controller communicate with each other by exchanging data
telegrams via the CAN bus.
The user data range of the CAN telegram contains network management data, parameter
data or process data:
ƒNetwork management data (NMT data)
Network service: E.g. all CAN nodes can be addressed at the same time.
ƒProcess data (PDO, process data objects)
– Process data is transferred via the process data channel.
– Process data can be used to control the drive controller.
– The master can directly access the process data. The data is, for instance, directly
assigned to the I/O area of the master. It is necessary that the control and the drive
controller can exchange data within a very short time interval. For this purpose,
small amounts of data can be transferred cyclically.
– Process data is not stored in the drive controller.
– Process data is transferred between the master and the drive controllers to ensure
a continuous exchange of current input and output data.
– Examples for process data are, for instance, setpoints and actual values.
ƒParameter data (SDO, service data objects)
– Parameters are set, for instance, for the initial system set-up during
commissioning or when the material is changed on a production machine.
– Parameter data is transferred by means of so-called SDOs via the parameter data
channel. The transfer is acknowledged by the receiver, i.e. the sender gets a
feedback about the transfer being successful or not.
– The parameter data channel enables the access to all CANopen indexes.
– Parameter changes are automatically stored in the drive controller.
– In general, the transfer of parameters is not time-critical.
– Examples for parameter data are, for instance, operating parameters, diagnostic
information and motor data.
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