Lenze 931M Series Use and care manual

KHB 13.0003-EN
.4&ö
Ä.4&öä
Communication Manual
Servo Drives 930

931M/W
CANopen
L-force Drives


2KHB 13.0003-EN 2.0
This documentation is valid for 931M/W servo inverters.
Document history
Material No. Version Description
.4&ö 2.0 02/2007 TD11 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.

Contents i
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KHB 13.0003-EN 2.0
1Preface 7..................................................................
1.1 Introduction 7.........................................................
1.2 About this Communication Manual 8.....................................
2 Safety instructions 9.........................................................
2.1 Persons responsible for safety 9..........................................
2.2 General safety instructions 10.............................................
2.3 Definition of notes used 11...............................................
3 Technical data 12............................................................
3.1 Communication data 12.................................................
4 Electrical installation 13.......................................................
4.1 CAN bus wiring 13......................................................
4.2 Connection of CAN bus slave 14...........................................
4.3 Connection of CAN bus master 14.........................................
5 CANopen communication 15...................................................
5.1 About CANopen 15......................................................
5.1.1 Structure of the CAN data telegram 15..............................
5.1.2 Identifier 16....................................................
5.1.3 Node address (node ID) 16........................................
5.1.4 User data 17....................................................
5.2 Parameter data transfer (SDO transfer) 18..................................
5.2.1 Telegram structure 18............................................
5.2.2 Reading parameters (example) 22..................................
5.2.3 Writing parameters (example) 23..................................
5.3 Process data transfer (PDO transfer) 24.....................................
5.3.1 Telegram structure 25............................................
5.3.2 Available process data objects 25..................................
5.3.3 Objects for PDO parameterisation 25...............................
5.3.4 Description of the objects 40......................................
5.3.5 Example of a process data telegram 42.............................
5.3.6 Activation of the PDOs 43.........................................
5.4 Sync telegram 44........................................................
5.4.1 Telegram structure 44............................................
5.4.2 Synchronisation of the process data 44.............................
5.4.3 Description of the objects 45......................................
5.5 Network management (NMT) 46..........................................
5.5.1 Communication phases of the CAN network (NMT) 46................
5.5.2 Telegram structure 47............................................

Contentsi
4KHB 13.0003-EN 2.0
5.6 Emergency telegram 49..................................................
5.6.1 Telegram structure 49............................................
5.6.2 Description of the objects 51......................................
5.7 Heartbeat telegram 53...................................................
5.7.1 Telegram structure 53............................................
5.7.2 Description of the objects 55......................................
5.8 Boot-up telegram 56.....................................................
5.8.1 Telegram structure 56............................................
5.9 Node Guarding 57.......................................................
5.9.1 Description of the objects 58......................................
6 Commissioning 59...........................................................
6.1 Activation of CANopen 59................................................
6.2 Speed control 60........................................................
6.2.1 Parameterising of a process data object (TPDO and RPDO) 60...........
6.2.2 Parameterising of the speed control 63.............................
6.2.3 Running through the state machine 64.............................
6.3 Position control 66......................................................
6.3.1 Parameterising of the homing run 66...............................
6.3.2 Running through the state machine 68.............................
7 Parameter setting 71.........................................................
7.1 Loading and saving of parameter sets 71...................................
7.1.1 Overview 71....................................................
7.1.2 Description of the objects 73......................................
7.2 Conversion factors (factor group) 74.......................................
7.2.1 Overview 74....................................................
7.2.2 Description of the objects 74......................................
7.3 Power stage parameters 75...............................................
7.3.1 Overview 75....................................................
7.3.2 Description of the objects 75......................................
7.4 Motor adaptation 76....................................................
7.4.1 Overview 76....................................................
7.4.2 Description of the objects 77......................................
7.5 Speed controller 78......................................................
7.5.1 Overview 78....................................................
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 81......................................

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7.7 Digital inputs and outputs 85.............................................
7.7.1 Overview 85....................................................
7.7.2 Description of the objects 85......................................
7.8 Device information 88...................................................
7.8.1 Description of the objects 88......................................
7.9 Manufacturer-specific information parameters 90...........................
7.9.1 Overview 90....................................................
7.9.2 Description of the objects 90......................................
7.10 Manufacturer-specific driving records 92...................................
7.10.1 Overview 92....................................................
7.10.2 Description of the objects 92......................................
8 Device control 95............................................................
8.1 State diagram 95........................................................
8.1.1 Overview 95....................................................
8.1.2 State diagram of the drive controller 96.............................
8.1.3 States of the drive controller 98....................................
8.1.4 State transitions of the drive controller 99...........................
8.1.5 Control word 100.................................................
8.1.6 Controller state 103...............................................
8.1.7 Status word 104..................................................
9 Operating modes 106..........................................................
9.1 Setting of the operating mode 106..........................................
9.1.1 Overview 106....................................................
9.1.2 Description of the objects 106......................................
9.2 Speed control 108........................................................
9.2.1 Overview 108....................................................
9.2.2 Description of the objects 108......................................
9.3 Homing 109.............................................................
9.3.1 Overview 109....................................................
9.3.2 Description of the objects 110......................................
9.3.3 Control of the homing run 111......................................
9.4 Positioning 112..........................................................
9.4.1 Overview 112....................................................
9.4.2 Description of the objects 113......................................
9.4.3 Functional description 114.........................................
9.5 Torque control 116.......................................................
9.5.1 Overview 116....................................................
9.5.2 Description of the objects 117......................................

Contentsi
6KHB 13.0003-EN 2.0
10 Appendix 118................................................................
10.1 Index table 118..........................................................
11 Index 153....................................................................

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.

Preface
About this Communication Manual
1
8KHB 13.0003-EN 2.0
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.

Safety instructions
Persons responsible for safety
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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)

Safety instructions
General safety instructions
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10 KHB 13.0003-EN 2.0
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.

Safety instructions
Definition of notes used
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2.3 Definition of notes used
The following pictographs and signal words 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 troublefree operation
Tip! Useful tip for simple handling
Reference to another documentation

Technical data
Communication data
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12 KHB 13.0003-EN 2.0
3 Technical data
3.1 Communication data
Communication
Communication profile DS 301, DSP 402
Network topology without repeater: line / with repeaters: line or tree
CAN devices Slave
Number of CAN devices 128
Baud rate (in kbits/s) 10, 20, 50, 100, 125, 250, 500, 800, 1000
Max. cable length per bus
segment
1200 m (depending on baud rate and cable type)
Bus connection M12

Electrical installation
CAN bus wiring
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4 Electrical installation
4.1 CAN bus wiring
CAN_L
CAN_L
CAN_L
CAN_L
CAN_GND
CAN_GND
CAN_GND
CAN_GND
CAN_SHLD
CAN_SHLD
CAN_SHLD
CAN_SHLD
CAN_H
CAN_H
CAN_H
CAN_H
X4.1 X4.2
A2 A1An
CAN-GND
CAN_SHLD
CAN_L
CAN_H
120
12345
6789
120 W
120 W
931m_050
Fig. 1 Basic wiring of CANopen with Sub-D connector to the master
A1Node 1 - master (e.g. PLC)
A2Node 2 - slave (e.g. 931M/W controller)
AnNode n - slave, n = max. 128
Stop!
Connect a 120 Ωterminating resistor to the first and last bus device.
If the last bus device is a 931M/W controller, use the »fluxx« software to activate the
terminating resistor.
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

Electrical installation
Connection of CAN bus slave
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14 KHB 13.0003-EN 2.0
4.2 Connection of CAN bus slave
X4.1 / X4.2
Input contact
pattern
Output contact
pattern
Pin Signal Explanation
1CAN_SHLD CAN_Shield
2 — Reserved
3CAN_GND CAN_Ground
4CAN_H CAN_HIGH (high is dominant)
5CAN_L CAN_LOW (low is dominant)
4.3 Connection of CAN bus master
Below, you can find the assignment of a 9-pole Sub-D socket used by most CAN masters for
the connection of fieldbus devices.
CAN bus connection to a 9-pole Sub-D socket
View Pin Signal Explanation
16
27
3
8
4
9
5
1 — Reserved
2CAN_L CAN_LOW (low is dominant)
3CAN_GND CAN_Ground
4 — Reserved
5(CAN_SHLD) Optional CAN_Shield
6(GND) Optional ground
7CAN_H CAN_HIGH (high is dominant)
8 — Reserved
9(CAN_V+) Optional external voltage supply of CAN
Tab. 1 CAN Sub-D socket

CANopen communication
About CANopen
Structure of the CAN data telegram
5
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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. 2 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.

CANopen communication
About CANopen
Identifier
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16 KHB 13.0003-EN 2.0
5.1.2 Identifier
The principle of the CAN communication is based on a message-oriented data exchange
between a 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.
Except for the network management and the sync telegram, the identifier contains the
node address of the controller:
Identifier (COB-ID) = basic identifier + adjustable node address (node ID)
The identifier assignment is specified in the CANopen protocol.
The basic identifier ex works is preset to the following values:
Object Direction Basic identifier
from the drive to the drive hex
SDO
(parameter data channel)
X580
X600
PDO1
(process data channel 1)
TPDO1 X180
RPDO1 X200
PDO2
(process data channel 2)
TPDO2 X280
RPDO2 X300
PDO3
(process data channel 3)
TPDO3 X380
RPDO3 X400
RPDO4 X500
SYNC 080
Emergency X080
Heartbeat/boot-up X700
NMT 000
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.

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 influenced 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.
– In general, the transfer of parameters is not time-critical.
– Examples for parameter data are, for instance, operating parameters, diagnostic
information and motor data.

CANopen communication
Parameter data transfer (SDO transfer)
Telegram structure
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5.2 Parameter data transfer (SDO transfer)
5.2.1 Telegram structure
The telegram for parameter data has the following structure:
11 bits 4bits User data (up to 8 bytes)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier Data
length
Command
code
Index
low byte
Index
high byte Subindex Data 1 Data 2 Data 3 Data 4
Error code
ƒThe following subchapters explain in detail the different parts of the telegram.
Identifier
11 bits 4bits User data (up to 8 bytes)
Identifier Data
length
Command
code
Index
low byte
Index
high byte Subindex Data 1 Data 2 Data 3 Data 4
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
SDO (parameter data channel) X580
X600

CANopen communication
Parameter data transfer (SDO transfer)
Telegram structure
5
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Command code
11 bits 4bits User data (up to 8 bytes)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier Data
length
Command
code
Index
low byte
Index
high byte Subindex Data 1 Data 2 Data 3 Data 4
Error code
The command code contains the services for writing and reading parameters and the
information on the length of the user data.
Structure of the command code:
Write command code
Bit 7
MSB
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
LSB
Comment
CS 0Length e s
Write command / write request 0 0 1 0 x x 1 1 CS: command
specifier
User data length
is coded in bits 2
and 3:
z00=4bytes
z01=3bytes
z10=2bytes
z11=1byte
Response to write command / write
response
0 1 1 0 x x 0 0
Read command code CS 0Length e s
Read command / read request 0 1 0 0 x x 0 0
Response to read command / read
response
0 1 0 0 x x 1 1
Error command code CS 0Length e s
Error response 10000000
The command code specifies whether a value is to be read or written. The command code
also determines the data length (1 byte, 2 bytes, 4 bytes).
Write command code
4-byte data
(5th ... 8th
byte)
2-byte data
(5th and 6th
byte)
1-byte data
(5th byte)
hex hex hex
Write command / write request
(Send parameters to the drive)
23 2B 2F
Response to write command / write response
(Response of the drive controller to the write request
(acknowledgement))
60 60 60
Read command code
Read command / read request
(Request to read a parameter from the drive controller)
40 40 40
Response to read command / read response
(Response to the read request with the actual value)
43 4B 4F
Error command code
Error response
(The drive controller signals a communication error)
80 80 80

CANopen communication
Parameter data transfer (SDO transfer)
Telegram structure
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Index low byte / index high byte
11 bits 4bits User data (up to 8 bytes)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier Data
length
Command
code
Index
low byte
Index
high byte Subindex Data 1 Data 2 Data 3 Data 4
The object to be addressed is contained in bytes 2 and 3 of the telegram.
ƒThe value for the index is split up into low byte and high byte and entered in the
left-justified Intel format.
Subindex
11 bits 4bits User data (up to 8 bytes)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier Data
length
Command
code
Index
low byte
Index
high byte Subindex Data 1 Data 2 Data 3 Data 4
ƒIf an object (e.g. controller parameter) consists of several sub-objects, the
sub-objects are addressed via subindexes. The number of the corresponding
subindex is entered in byte 4 of the telegram. (See following tables for sub-objects).
ƒIf an object has no sub-objects, the value ”0” is entered in byte 4 of the telegram.
(See following sub-object tables).
Data (data 1 ... data 4)
11 bits 4bits User data (up to 8 bytes)
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier Data
length
Command
code
Index
low byte
Index
high byte Subindex Data 1 Data 2 Data 3 Data 4
For the data of the parameter up to 4 bytes (data 1 ... data 4) are available.
The data is represented in the left-justified Intel format with data 1 as the LSB and data 4
as the MSB.