SEW-Eurodrive MOVIDRIVE DFC11A User manual

10/262/97
T
MOVIDRIVE®
Drive Inverters
Manual
DFC11A CAN Bus Fieldbus Interface
Edition 04/98
0919 1313 / 0698
UL
®
C
UL
®

2 MOVIDRIVE
®
DFC11A CAN Bus
Important Notes
Important Notes
•Read this Manual carefully before you start installation and commissioning work on
MOVIDRIVE®
drive inverters with CAN bus.
This manual assumes that the user is familiar with and has at his disposal all relevant
documentation on the MOVIDRIVE®
system, in particular the manual and the Installation
and Operating Instructions.
•Safety Instructions:
Always follow the warnings and safety instructions contained in this manual.
Safety instructions are marked as follows:
Electrical hazard, e. g. during live working
Mechanical hazard, e. g. when working on hoists
Important Instructions for the safe and fault-free operation of the driven machine /
system, e.g. pre-settings before commissioning
•General safety instructions for bus systems:
The fieldbus option provides you with a communications system which allows you to match
the MOVIDRIVE®
drive inverter to the specifics of your application to a very high degree. As
with all bus systems there is, however, the risk of a programming error in the program
which may result in unexpected (though not uncontrolled) system behaviour.
• In this manual, cross-references are marked with a →, e.g.,
(→MX_SCOPE) means: Please refer to the MX_SCOPE Manual for detailed information or
information on how to carry out this instruction.
(→Section x.x) means: Further information can be found in Section x.x of this manual.
• Each unit is manufactured and tested to current SEW-EURODRIVE technical standards and
specifications.
The manufacturer reserves the right to make changes to the technical data and designs
which are in the interest of technical progress.
A requirement for fault-free operation and fulfilment of any rights to claim under guarantee
is that these instructions and notes are followed.

MOVIDRIVE
®
DFC11A CAN Bus 3
Contents
Contents
1 Introduction ...................................................................................... 4
2 Assembly / Installation Instructions .........................................................6
2.1 Supported Drive Inverter Types .............................................................................6
2.2 Fitting the Option PCB............................................................................................6
2.3 Pin Assignment......................................................................................................7
2.4 Shielding and Laying of the Bus Cables.................................................................8
2.5 CAN Bus Transmission Cable ................................................................................9
2.6 DIP Switch Settings.............................................................................................10
2.7 Display Elements .................................................................................................11
3 Configuration and Commissioning ......................................................... 12
3.1 Message Types....................................................................................................12
3.1.1 Synchronization Message..........................................................................13
3.1.2 Process Data Messages.............................................................................13
3.1.3 Parameter Messages.................................................................................14
3.2 Configuration Examples.......................................................................................14
3.2.1 Configuration Example 1 ...........................................................................14
3.2.2 Configurating Example 2 ...........................................................................16
4 Parameter Setting via CAN Bus............................................................. 18
4.1 Services...............................................................................................................18
4.1.1 Structure of the Parameter Message .........................................................18
4.1.2 MOVILINK®
Parameter Channel ...............................................................20
4.1.3 Sequence of Parameter Setting via CAN....................................................21
4.1.4 Parameter Data Format..............................................................................21
4.2 Drive Parameter Description................................................................................21
5 Return Codes during Parameter Setting................................................... 22
5.1 Special Cases.......................................................................................................22
5.1.1 Errors during Parameter Setting................................................................22
6 Technical Data of the DFC11A Option ..................................................... 23

4 MOVIDRIVE
®
DFC11A CAN Bus
1 Introduction
1 Introduction
This
DFC11A CAN Bus Fieldbus Interface Manual
describes the procedure for installing the fieldbus
interface in the drive inverter and for commissioning the MOVIDRIVE®
drive inverter when con-
nected to the CAN bus.
In addition to describing all the settings on the fieldbus interface, this manual further discusses the
various options for connecting the drive inverter to the CAN bus in the form of commissioning
examples.
In addition to this
DFC11A CAN Bus Fieldbus Interface Manual
we recommend that you familiarize
yourself with the
Fieldbus Unit Profile Manual
(Part no. 0919 1607), which will provide you with
the necessary information for simple and efficient connection of the MOVIDRIVE®
to the CAN bus
system.
The
Fieldbus Unit Profile Manual
gives a detailed description of the fieldbus parameters and their
codes and discusses various control concepts and potential applications in the form of brief exam-
ples (including examples in S5 syntax).
The
Fieldbus Unit Profile Manual
contains a list of all the drive inverter parameters that can be read
or written via the various communications interfaces such as RS-232, RS-485 and via the fieldbus
interface.
Thanks to its high-performance universal fieldbus interface, the MOVIDRIVE®
drive inverter with
the
DFC11A (CAN bus)
option can be connected to and controlled from higher-level automation
systems via the standardized CAN bus system.
MOVIDRIVE®
and CAN Bus
The drive inverter profile for CAN bus mode, i.e. the way the inverter operates and responds when
in CAN bus mode, is independent of the type of fieldbus, and thus consistent for all fieldbus types.
This allows the user to develop his drive applications independent of a particular fieldbus or change
to another bus system, e.g. PROFIBUS-DP/FMS (
DFP11A
option) or the INTERBUS-S (
DFI11A
option) without any problems.
MOVIDRIVE®
offers digital access to all drive parameters and functions via the CAN bus interface.
The drive inverter is controlled by the high-speed process data. These process data messages pro-
vide the facility to specify setpoints such as speed setpoint, ramp generator times for acceleration
and deceleration etc., and allow various drive functions such as enable, controller inhibit, stop,
rapid stop, etc. to be triggered. These messages can also be used to read back actual values from
the drive inverter, such as actual speed, current, inverter status, fault number or reference
messages.
This exchange of parameter data via the MOVILINK®
parameter channel enables applications where
all major drive parameters are stored in the higher-level automation system (master control) to be
implemented, thus avoiding manual parameter setting on the drive inverter itself, which can often
be very time-consuming.

MOVIDRIVE
®
DFC11A CAN Bus 5
Introduction 1
The process data and drive parameters can be sent synchronously or asynchronously with a
synchronization message.
01011AEN
Fig. 1: CAN bus with MOVIDRIVE
®
The use of a fieldbus system in drive technology requires additional monitoring functions, such as
fieldbus timeout or special emergency stop concepts. The monitoring functions of the
MOVIDRIVE®
can be matched to the specific application for which it is to be used. This feature
enables you, for instance, to specify which response the drive inverter should trigger if an error
should occur in the bus. A rapid stop will be practical for many applications, but it is also possible
to freeze the last setpoints, so that the drive can continue with the last valid setpoints (e.g. con-
veyor belt). As the functionality of the control terminals is also ensured when the drive inverter is
operated in the fieldbus mode, fieldbus-independent emergency stop concepts can still be imple-
mented via the drive inverter’s terminals.
The MOVIDRIVE®
drive inverter offers numerous diagnostic facilities for commissioning and
servicing. The MX_SHELL software offers even more convenient diagnostic facilities in that it
provides a detailed display of the fieldbus and inverter status as well as the facility to set all the
drive parameters (including the fieldbus parameters).
EQEQEQ
CAN bus
CAN bus master control

6 MOVIDRIVE
®
DFC11A CAN Bus
2Assembly / Installation
Instructions
2 Assembly / Installation Instructions
2.1 Supported Drive Inverter Types
The DFC11A option pcb for connection to a CAN bus system can be used with all drive inverters of
the MOVIDRIVE®
family.
To set the fieldbus parameters you need the
MX_SHELL
user interface.
2.2 Fitting the Option PCB
Please follow the instructions below when fitting the option pcb:
Before you start
• Discharge yourself with appropriate measures (earthing band, conductive shoes, etc.) before
touching the option pcb.
• Store the option pcb in its original package and only unpack immediately before installation.
• Do not touch the option pcb more often than necessary and hold only by the edges. Do not
touch components.
Procedure for Fitting the Option PCB:
• Disconnect inverter supply. Switch off mains and, if applicable, 24 V supply.
• Take off the lower protective cover of the control unit.
• Untighten screws of the electronics shielding terminal.
• Remove black sheet metal cover.
• Remove the shield terminal of the signal connections.
• Insert option pcb into the guide rails of OPTION1 slot.
• Press the front plate carefully to plug in option pcb. The pcb is correctly inserted when the front
is flush with the controller pcb.
• Fasten electronics shielding terminal.
• Replace the proctective cover of the unit.
• Depending on the D type connector used, it may not be possible to replace the protective cover.
This does not effect the enclosure of the unit.
• The DFC11 option pcb is now completely fitted.

MOVIDRIVE
®
DFC11A CAN Bus 7
Assembly / Installation
Instructions 2
MD0206AE
Fig. 2: The DFC11A option pcb
2.3 Pin Assignment
The
DFC11A
option pcb is provided with a 9-pin type D connector (female). The CAN bus is con-
nected with a 9-pin type D connector (male). The use of T-connectors is not permitted, as the spur
line must be kept as short as possible. The bus cables must be looped directly in the connector.
01012AEN
Fig. 3: Cabling of the CAN bus (viewed from above)
The following Figure shows the pin assignment of the 9-pin type D connector (female), which
complies with CiA (CAN in Automation) recommendations. To avoid EMC problems, only use
connectors with metal or metal-plated housings for connecting the drive inverter to the CAN bus.
Backplane bus
LED green: TxD
LED green: RxD
Process data length
Baud rate
ID
n.c.
Terminating resistor
CAN bus
connection
CAN
controller
MOVIDRIVE MOVIDRIVE
No T connector ... ... but direct loop-through in the connector

8 MOVIDRIVE
®
DFC11A CAN Bus
2Assembly / Installation
Instructions
01013AEN
Fig. 4: Assignment of the 9-pin type D CAN-Bus connector
The MOVIDRIVE® drive inverter is connected to the CAN bus via the 2-wire bus by a 4-core
shielded cable with twisted-pair signal leads. The 2-wire bus consists of the signal lines CAN High
and CAN Low.
2.4 Shielding and Laying of the Bus Cables
Technically correct shielding of the bus cables absorbs the electrical interference that can occur in
an industrial environment. You will achieve the best shielding results if you adopt the following
measures:
• Hand-tighten the fixing screws of plugs, modules and equipotential bonding conductors.
• Only use plugs with metal or metal-plated housings.
• Connect the shielding in the plug over as large an area as possible.
• Connect the shielding at both ends of the bus cable
• Do not lay signal and bus cables parallel to power cables (motor cables), but wherever possible
in separate cable conduits.
• In an industrial environment use metallic, grounded cable trays.
• Run signal cables and the associated equipotential bonding conductor as close as possible to
each other, using the shortest route.
• Avoid extending bus cables through the use of connectors.
• Run the bus cables close to existing grounded surfaces.
IMPORTANT
In the event of fluctuations in the ground potential, a circulating current may flow through any
shielding which may be connected at both ends and connected to the ground potential (PE). In this
case, ensure there is adequate equipotential bonding in accordance with the relevant DIN VDE
provisions.
6
7
2
3
DGND
CAN High
CAN Low
DGND
5 4 3 2 1
9 8 7 6
EQ
9-pin type D connector
Twisted-pair
signal cables
Conductive line between
connector housing and screen!

MOVIDRIVE
®
DFC11A CAN Bus 9
Assembly / Installation
Instructions 2
2.5 CAN Bus Transmission Cable
The DFC11A CAN bus option pcb supports data transmission technology in accordance with ISO
11898 and requires as a physical medium a 2-core, twisted-pair cable. The signal grounds can be
connected via an additional two leads.
The maximum cable length depends on the set baud rate. Use the formula below to calculate the
maximum cable length:
The following figure shows the relationship between maximum cable length and set baud rate.
MD0209AE
Fig. 5: Relationship between max. cable length and baud rate
Cable lengthmax
40 Mbit
seconds
------------------- metres⋅⋅
baud rate
---------------------------------------------------
<
1000
875
750
625
500
375
250
125
40 80 100 160 200 300 320
Baud rate
in Kbit/sec
Cable length
in m

10 MOVIDRIVE
®
DFC11A CAN Bus
2Assembly / Installation
Instructions
2.6 DIP Switch Settings
After the DFC11A option pcb has been installed, the DIP switches on the pcb must be set. The DIP
switch settings can be changed when the option pcb is installed. The functions of the various DIP
switches are shown in the table below.
Table 1: DIP switch settings
The DIP switches of the S1 switch block (see Figure 6) serve to set the process data length (identi-
fied by 'L') and the baud rate (identified by 'B').
The DIP switches of the S2 switch block are used to set the basic ID and to connect the terminating
resistor. The basic ID comprises 6 DIP switches. These are followed by a reserved DIP switch,
which is to be set at OFF. The bottom switch of the block connects the 120 Ωterminating resistor
for the bus cable. This terminating resistor is required for the first and the last inverter on the bus
line to avoid reflections.
The CAN option pcb must be re-initialized each time a DIP switch setting is changed. To do
this, switch the supply off and then on again.
Dip switch
block Designation Bit Function Setting As-delivered settings are
underlined
S1 L 1-0 Process data length : Not defined
: 1 process data word
: 2 process data words
: 3 process data words
S1 B 3-2 Baud rate : 125 kbaud
: 250 kbaud
: 500 kbaud
: 1 Mbaud
S2 ID 5-0 Identifier Here, e. g. ID = 6
0... 63
S2 nc 6 Reserved : Switch setting at OFF
S2 R 7 Terminating resistor
for the CAN bus
cable
: None
: 120 Ω
L0
OFF ON
L0
OFF ON
L0
OFF ON
L0
OFF ON
B3
OFF ON
B3
OFF ON
B3
OFF ON
B3
OFF ON
ID
0
OFF ON
nc
OFF ON
R7
OFF ON
R7
OFF ON

MOVIDRIVE
®
DFC11A CAN Bus 11
Assembly / Installation
Instructions 2
2.7 Display Elements
The
DFC11A
option pcb has two LEDs for diagnosing the CAN bus system. These LEDs provide
information about the transfer of MOVILINK®
messages via the CAN bus. The meaning of the LEDs
is shown in the table below.
01242AEN
Fig. 6: Diagnostic LEDs for CAN bus
Table 2: Meaning of the CAN bus diagnostic LEDs
LED name Colour State Meaning
TxD Green Flickering Option pcb is sending MOVILINK®
messages
RxD Green Flickering Option pcb is receiving MOVILINK® messages
T xD
RxD
L
B
0
3
ID
R
0
7
nc
S2
S1
C AN-Bus
54321
98 76
DFC11A
X30

12 MOVIDRIVE
®
DFC11A CAN Bus
3Configuration and
Commissioning
3 Configuration and Commissioning
This Section explains how to configure and commission the MOVIDRIVE® drive inverter with the
DFC11A
option from the CAN bus master control.
3.1 Message Types
Different message types have been defined for communication between the DFC11A option pcb
and the master control. These message types can be divided into three categories:
• Synchronization message
• Process Data messages
• Parameter messages.
On the CAN bus, these different message types must be distinguished by their ID. Therefore, the ID
of a CAN bus message is made up of message type and basic ID, which is set with the DIP
switches. See Table 3 below for details.
Table 3: Setting the identifiers
The examples in Sections 3.2.1 and 3.2.2 illustrate this setup.
00003AEN
Fig. 7: Setting the identifiers
Identifier Message Type
8× Basic ID + 0 Reserved
8× Basic ID + 1 Reserved
8× Basic ID + 2 Reserved
8× Basic ID + 3 Process Output Data message (PO), asynchronous
8× Basic ID + 4 Process Input Data message (PI), asynchronous
8× Basic ID + 5 Process Output Data message synchronized (PO sync), synchronous
8× Basic ID + 6 Reserved
8× Basic ID + 7 Reserved
8× Basic ID + 512 + 0 Reserved
8× Basic ID + 512 + 1 Reserved
8× Basic ID + 512 + 2 Reserved
8× Basic ID + 512 + 3 MOVILINK®
Parameter Request message, synchronous/asynchronous
8× Basic ID + 512 + 4 MOVILINK®
Parameter Response message, synchronous/asynchronous
8× Basic ID + 512 + 5 Reserved
8× Basic ID + 512 + 6 Reserved
8× Basic ID + 512 + 7 Reserved
012345678910
543210
Bit:
X0 XXX
Identifier (ID)
DIP switch
0 = Process data message
1 = Parameter message
Identifier Function

MOVIDRIVE
®
DFC11A CAN Bus 13
Configuration and
Commissioning 3
3.1.1 Synchronization Message
01020AEN
Fig. 8: The bus time is divided into bus cycles
A fixed time basis of 1 ... X milliseconds must be set by the master control for the transfer of
process data and parameter data. A synchronization message must therefore be sent from the
master control to the connected drive inverters in the first millisecond of a cycle.
The synchronization message is a broadcast message. This means that all drive inverters will
receive this message. The identifier of this message is factory-set at 1. You may set the identifier at
any value between 0 and 2047, however, make sure that it does not overlap with the identifiers of
the Process Data and Parameter Data messages.
3.1.2 Process Data Messages
The process data are sent at certain points of time within the freely adjustable, fixed time interval. A
distinction is made between synchronous and asynchronous process data. The synchronous
process data are sent at specific times within the given time interval. The master control can send
the process output data no earlier than 500 µs after the 2nd millisecond and no later than 500 µs
before the 1st millisecond (see Fig. 8). The process input data sent by the MOVIDRIVE®
drive
inverter in response are transferred in the 1st millisecond.
Asynchronous process data are not sent within this time interval. The master control may send the
process output data at any point of time and the drive inverter will respond by sending a process
input data message no later than 1 millisecond max.
1. 2. 3. ... 1. 2. 3. ... 1. 2.
Sync
message
Sync
message
Sync
message
Master control
Process output
data messages
Process input
data messages
Process input
data messages
Process output
data messages
Parameter Request message
Process input
data messages
MOVIDRIVE Drive inverter
®
Parameter
Response
message
Send range of process
output data
Send range of process
output data
t in ms

14 MOVIDRIVE
®
DFC11A CAN Bus
3Configuration and
Commissioning
3.1.3 Parameter Messages
The parameter messages, too, are divided into synchronous and asynchronous messages.
Synchronous parameter messages are responded to within the time interval of 1 ... X milliseconds.
The Response message is sent in the 1st millisecond.
The response to asynchronous parameter messages is independent of the time interval.
3.2 Configuration Examples
3.2.1 Configuration Example 1
The following settings shall be made:
• 4 drive inverters
• Process data length 1
• Baud rate 125 Kbit/s
01021AEN
Fig. 9: Example for configuration 1
Fig. 9 shows the system to be configured. The DIP switch settings are shown enlarged.
First of all, set the process data length and the baud rate on all the drive inverters. This is done on
the upper DIP switch block. See for the setting of one process data word and a baud rate of 125
Kbit/s.
Then the basic ID is set for the drive inverters. In this example the drive inverters are assigned their
basic ID in accordance with Table 4:
Table 4: Assignment of basic IDs for the drive inverters
Drive Inverter Basic ID
1 000000 bin. = 0 dec.
2 000001 bin. = 1 dec.
3 000010 bin. = 2 dec.
4 000011 bin. = 3 dec.
ID = 0
ID = 1
ID = 2
ID = 3
L
B
ID
nc
R
L
B
ID
nc
R
L
B
ID
nc
R
L
B
ID
nc
R
EQ EQEQ EQ
Inverter 1 Inverter 2 CAN bus master control Inverter 3 Inverter 4
CAN bus

MOVIDRIVE
®
DFC11A CAN Bus 15
Configuration and
Commissioning 3
In addition, the terminating resistor must be connected at the line ends. Set the DIP switch identi-
fied by an 'R' on drive inverters 1 and 4 at ON.
On the CAN bus the IDs listed in Table 5 are assigned as follows:
Table 5: IDs used on the CAN bus
The IDs are calculated from the basic ID set via the DIP switches and the offset describing the cor-
responding message (see Table 3).
When the process data length is set at 1, the drive inverter will receive exactly one process output
data word and then send one process input data word to the master control. Fig. 10 illustrates this
concept.
01022AEN
Fig. 10: Configuring for one process data word
The content of the process data word is defined by the Process Output Data Description 1 and
Process Input Data Description 1 parameters.
Drive Inverter ID Message type
1 (Basic ID = 0) 3 (Basic ID x 8 + 3) Process Output Data message (PO)
4 (Basic ID x 8 + 4) Process Input Data message (PI)
5 (Basic ID x 8 + 5) Process Output Data message synchronized (PO sync)
515 (Basic ID x 8 + 512 + 3) Parameter Response message
516 (Basic ID x 8 + 512 + 4) Parameter Request message
2 (Basic ID = 1) 11 (Basic ID x 8 + 3) Process Output Data message (PO)
12 (Basic ID x 8 + 4) Process Input Data message (PI)
13 (Basic ID x 8 + 5) Process Output Data message synchronized (PO sync)
523 (Basic ID x 8 + 512 + 3) Parameter Request message
524 (Basic ID x 8 + 512 + 4) Parameter Response message
3 (Basic ID = 2) 19 (Basic ID x 8 + 3) Process Output Data message (PO)
20 (Basic ID x 8 + 4) Process Input Data message (PI)
21 (Basic ID x 8 + 5) Process Output Data message synchronized (PO sync)
531 (Basic ID x 8 + 512 + 3) Parameter Request message
532 (Basic ID x 8 + 512 + 4) Parameter Response message
4 (Basic ID = 3) 27 (Basic ID x 8 + 3) Process Output Data message (PO)
28 (Basic ID x 8 + 4) Process Input Data message (PI)
29 (Basic ID x 8 + 5) Process Output Data message synchronized (PO sync)
539 (Basic ID x 8 + 512 + 3) Parameter Request message
540 (Basic ID x 8 + 512 + 4) Parameter Response message
PD1
PD1
EQ
Master control
CAN bus

16 MOVIDRIVE
®
DFC11A CAN Bus
3Configuration and
Commissioning
3.2.2 Configurating Example 2
The following settings should be made:
• 4 drive inverters
• Process data length 3
• Baud rate 500 kbit/s
01023AEN
Fig. 11: Example for configuration 2
Fig. 11 shows the system to be configured. The DIP switch settings are shown enlarged.
First of all, set the process data length and the baud rate on all the drive inverters. This is done on
the upper DIP switch block. See Table 1 for the setting of 3 process data words and a baud rate of
500 Kbit/s.
Then the basic ID is set for the drive inverters. In this example, the drive inverters are assigned the
basic ID in accordance with Table 6:
Table 6: Assignment of basic IDs for the drive inverters
As you can see, you need not observe a specific order when setting the basic ID via the DIP
switches. However, the basic IDs may not be assigned more than once, i.e. no two drive inverters
should have the same basic ID.
In addition, the terminating resistor must be connected at the line ends. Set the DIP switch identi-
fied by an 'R' on drive inverters 1 and 4 at ON.
Drive Inverter Basic ID
1 100001 bin. = 33 dec.
2 010001 bin. = 17 dec.
3 001011 bin. = 11 dec.
4 000111 bin. = 7 dec.
ID = 33
ID = 17
ID = 11
ID = 7
L
B
ID
nc
R
L
B
ID
nc
R
L
B
ID
nc
R
L
B
ID
nc
R
EQ EQEQ EQ
Inverter 1 Inverter 2 CAN bus master control Inverter 3 Inverter 4
CAN bus

MOVIDRIVE
®
DFC11A CAN Bus 17
Configuration and
Commissioning 3
On the CAN bus the IDs listed in Table 7 are assigned as follows:
Table 7: IDs used on the CAN bus
The IDs are calculated from the basic ID which is set via the DIP switches and the offset describing
the corresponding message (see Table 3).
When the process data length is set at 3, the drive inverter will receive exactly three process output
data words and send three process input data words to the master control. Fig. 12 illustrates this
concept.
01024AEN
Fig. 12: Configuring for three process data words
The content of the process data words is defined by the Process Output Data Description 1...3 and
Process Input Data Description 1...3 parameters.
Axis ID Message type
1 (Basic ID = 33) 267 (Basic ID x 8 + 3) Process Output Data message (PO)
268 (Basic ID x 8 + 4) Process Input Data message (PI)
269 (Basic ID x 8 + 5) Process Output Data message synchronized (PO sync)
779 (Basic ID x 8 + 512 + 3) Parameter Request message
780 (Basic ID x 8 + 512 + 4) Parameter Response message
2 (Basic ID = 17) 139 (Basic ID x 8 + 3) Process Output Data message (PO)
140 (Basic ID x 8 + 4) Process Input Data message (PI)
141 (Basic ID x 8 + 5) Process Output Data message synchronized (PO sync)
651 (Basic ID x 8 + 512 + 3) Parameter Request message
652 (Basic ID x 8 + 512 + 4) Parameter Response message
3 (Basic ID = 11) 91 (Basic ID x 8 + 3) Process Output Data message (PO)
92 (Basic ID x 8 + 4) Process Input Data message (PI)
93 (Basic ID x 8 + 5) Process Output Data message synchronized (PO sync)
603 (Basic ID x 8 + 512 + 3) Parameter Request message
604 (Basic ID x 8 + 512 + 4) Parameter Response message
4 (Basic ID = 7) 59 (Basic ID x 8 + 3) Process Output Data message (PO)
60 (Basic ID x 8 + 4) Process Input Data message (PI)
61 (Basic ID x 8 + 5) Process Output Data message synchronized (PO sync)
571 (Basic ID x 8 + 512 + 3) Parameter Request message
572 (Basic ID x 8 + 512 + 4) Parameter Response message
PD1
PD1
PD2
PD2
PD3
PD3
EQ
Master control
CAN bus

18 MOVIDRIVE
®
DFC11A CAN Bus
4Parameter Setting via
CAN Bus
4 Parameter Setting via CAN Bus
With the DFC11A option pcb, the MOVIDRIVE® drive inverter supports the “MOVILINK® parameter
channel” and the “MOVILINK®
SYNC parameter channel”.
01025AEN
Fig. 13: CAN-Bus services
4.1 Services
To read and write drive inverter parameters via the fieldbus system the “MOVILINK®
parameter
channel” and the “MOVILINK®
synchronized parameter channel” services of the application layer
(layer 7) are used.
4.1.1 Structure of the Parameter Message
Setting the parameters of field units using fieldbus systems, which do not provide an application
layer, requires the emulation of the most important functions and services such as READ and
WRITE for the reading and writing parameters. In the case of the CAN bus, e.g., this requires a
parameter message to be defined. This parameter message is described by an Identifier, which
depends on the basic address set on the CAN option pcb. The parameter data are then transferred
via the parameter message (Fig. 14).
01026AEN
Fig. 14: Parameter message for CAN
EQ
Master control
MOVILINK parameter channel
®
MOVILINK parameter channel SYNC
®
CAN bus
EQ
CAN bus
Parameter Request message
Parameter Response message

MOVIDRIVE
®
DFC11A CAN Bus 19
Parameter Setting via
CAN Bus 4
Fig. 15 shows the structure of the parameter message. It generally consists of a management byte,
an index word, a reserved byte and four data bytes.
MD0230AE
Fig. 15: Structure of the parameter message
4.1.1.1 Management of the Parameter Message
The entire parameter adjustment sequence is co-ordinated using byte 0: Management. This byte
provides important service parameters such as Service Identifier, data length, execution and status
of the executed service. Fig. 16 shows that bits 0 to 3 contain the Service Identifier, in other words
they define which service is to be executed. Bits 4 and 5 specify the data length in bytes for the
WRITE service, which in the case of SEW drive inverters should generally be set at 4 bytes.
Handshake bit 6 = 0:Asynchronous response to the Synchronization message
Handshake bit 6 = 1:Synchronous response to the Synchronization message in the first millisecond.
Status bit 7 indicates whether the service was executed properly or whether it produced a fault. .
01027AEN
Fig. 16: Structure of the management byte
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Management
Management
Reserved
Reserved
Index High
Parameter index
Index Low Data MSB Data Data Data LSB
4-byte data
7 6 5 4 3 2 1 0
Bit:
MSB LSB
Byte 0: Management
Service identification:
0000 = No service
0001 = Read parameter
0010 = Write parameter
0011 = Write parameter volatile
0100 = Read Minimum
0101 = Read Maximum
0110 = Read Default
0111 = Read Scale
1000 = Read Attribute
Data length:
00 = 1 byte
01 = 2 bytes
10 = 3 bytes
11 = 4 bytes
Handshake mode bit
0 = asynchronous, send Response immediately
1 = synchronous, send Response upon receipt of
SYNC message
Status bit
0 = Performance of service o.k.
1 = Performance of service faulty

20 MOVIDRIVE
®
DFC11A CAN Bus
4Parameter Setting via
CAN Bus
4.1.1.2 Parameter Index Addressing
Byte 2: Index High and byte 3: Index Low are used to identify the parameter to be read or written
via the fieldbus system. The parameters of a drive inverter are addressed using a standard index,
irrespective of the type of fieldbus system. Byte 1 should be considered reserved and must gener-
ally be set at 0x00.
4.1.1.3 Data Area
As shown in Fig. 17, the data are contained in bytes 4 to 7 of the parameter message. This allows a
maximum of 4-byte data to be transferred per service. The data are generally entered flush right,
i.e. byte 7 contains the least significant data byte (data LSB), byte 4 correspondingly the most
significant data byte (data MSB).
MD0232AE
Fig. 17: Definition of the data area in the parameter message
4.1.1.4 Faulty Execution of Service
Faulty execution of service is signalled by setting the status bit in the management byte. If the
status bit indicates an error, the error code is entered in the data area of the parameter message
(Fig. 18). Bytes 4 - 7 provide the return code in a structured format (see MOVILINK®
Communica-
tions Profile Manual).
MD0233AE
Fig. 18: Structure of the parameter message in the event of faulty execution of service
4.1.2 MOVILINK® Parameter Channel
The “MOVILINK®
Device and Communications Profile” manual provides a detailed description of
the MOVILINK®
parameter channel.
For the CAN bus system it is important to differentiate between synchronized and non-synchro-
nized parameters.
• In the case of non-synchronized parameter messages, service acknowledgement is independent
of the Sync message.
• In the case of synchronized parameter messages, the service acknowledgement is sent in the
first millisecond after receipt of the Sync message only.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Management Reserved Index High Index Low Data MSB Data
High byte 1 High byte 2Low byte 1 Low byte 2
High word
Data Data LSB
Low word
Double word
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Management Reserved Index High Index Low
Status bit = 1: Faulty performance of service
Error Class Error Code Add. Code
high Add. Code low