SEW-Eurodrive Movidrive DFO11A User manual

open
MOVIDRIVE®CANopen Fieldbus Interface
DFO11A
Edition
10/2000
Manual
09187111 / EN

SEW-EURODRIVE

CANopen Fieldbus Interface DFO11A
3
Contents
1 Introduction ....................................................................................................... 4
2 Assembly/Installation ....................................................................................... 6
2.1 Types of Units Supported ......................................................................... 6
2.2 Installation of Option PCB......................................................................... 6
2.3 Connector Wiring and Connector Pin Assignment....................................6
2.4 Shielding and Routing of Bus Cables........................................................ 7
2.5 Setting the DIP Switches ..........................................................................8
2.6 Display Elements .................................................................................... 10
3 Project Planning/Startup ................................................................................ 11
3.1 Data Exchange with CANopen................................................................ 11
3.2 Startup .................................................................................................... 18
4 Application Example....................................................................................... 27
4.1 Positioning with Five Process Data......................................................... 27
5 Appendix.......................................................................................................... 31
6 Index................................................................................................................. 33

1
4
CANopen Fieldbus Interface DFO11A
1 Introduction
Contents of this
manual
This manual pertains to the CANopen fieldbus interface DFO11A and describes the
installation of the CANopen option pcb DFO11A into the drive inverter and the startup
of MOVIDRIVE®on the CANopen fieldbus .
It also contains an explanation of all settings for the fieldbus option and the different
types of connections with CANopen in the form of small startup examples.
Documentation For simple and effective connection of MOVIDRIVE®to the CANopen fieldbus system,
the following documentation should be used in addition to this manual:
•MOVIDRIVE
®Fieldbus Unit Profile Manual
•MOVIDRIVE
®System Manual
The manual accompanying MOVIDRIVE®Fieldbus Unit Profile features a description of
fieldbus parameters and related coding. It also features an explanation of the various
control schemes and possible applications in form of small examples.
The MOVIDRIVE®system manual contains a list of all parameters of the drive inverter
that can be read and written via various communication interfaces such as RS-485 and
even via the fieldbus interface.
MOVIDRIVE
®
and
CANopen
The MOVIDRIVE®drive inverter together with the DFO11A option and its high-
performance universal fieldbus interface allows connection to higher-level automation
systems via CANopen.
Device profile The underlying behavior of the inverter (also referred to as the unit profile) that forms the
basis for CANopen operation, is fieldbus independent and, therefore, uniform. This
allows the user to develop fieldbus-independentdriveapplications. Asa result,changing
over to other bus systems such as INTERBUS (option DFI11A), PROFIBUS (option
DFP11A), CAN bus (DFC11A) or DeviceNet (DFD11A) is easily achieved.
Drive parameters Use of the MOVIDRIVE®CANopen interface offers direct access to all drive parameters
and functions. Control of the drive inverter is achieved through the fast, cyclical process
data. Using this process data channel, the user can specify not only setpoint values
(e.g., setpoint speed, integrator time for acceleration/decelaration, etc.), but also initiate
various drive functions such as release, controller inhibit, normal stop, quick stop, etc.
At the same time, this channel can also be used to read back actual values such as
actual speed, current, unit status, fault code or even reference signals from the drive
inverter.
PDO/SDO Whereas the process data exchange is mapped to the CANopen PDOs1,
parameterization of the inverter is mapped solely via SDOs2. This parameter data
exchange allows implementation of applications in which all important drive parameters
are stored in the higher-level automation system. As a result, it is not necessary to set
parameters manually in the drive inverter.
1. Process Data Object
2. Service Data Object

CANopen Fieldbus Interface DFO11A
5
1
Startup The CANopen option is designed so that the fieldbus-specific settings for the Slave ID
and Baud Rate can be adjusted by means of a hardware switchon the option pcb. Using
this manual setting, the drive inverter can be quickly integrated into the CANopen
environment and switched on. The parameters can be set automatically by the higher-
level CANopen master (parameter download). This future-oriented system offers the
advantages of reducing systems startup time and simplifying the documentation of the
application program, since all important drive parameters can be stored directly in the
control program.
Monitoring
functions
The use of a fieldbus system requires additional drive system monitoring such as time-
monitoring of the fieldbuses (fieldbus timeout) or even quick stop concepts. The
MOVIDRIVE®monitoring functions can be customized to your applications allowing you
to determine which fault response the drive inverter will trigger in the case of a bus error.
A quick stop is useful for many applications, but you can also freeze the last setpoint
values so that the drive continuously runs using the last valid setpoint values (e.g., a
conveyor belt). Since the functionality of the control terminals is ensured in fieldbus
operation, the user can still implement fieldbus-independent quick stop schemes via the
terminals of the drive inverter.
Diagnostics The MOVIDRIVE®drive inverter offers numerous diagnostic options for startup and
service. Using the integrated fieldbus monitor, users can control setpoint values sent
from the higher-level controller as well as the actual values.
Users also receive additional information on the status of the fieldbus option pcb. The
fieldbus monitor function offers a convenient diagnostic option that allows for a detailed
display of fieldbus and unit status information in addition to the settings of all drive
parameters (including fieldbus parameters).
03678AXX
Figure 1: CANopen with MOVIDRIVE
®
and PLC
EQ
QEQ Q
EQ
Q
MOVIDRIVE
®
MOVIDRIVE
®
MOVIDRIVE
®
SPS
Node_1 [1] Node_2 [2]
Node_3 [3]
CANopen

2
6
CANopen Fieldbus Interface DFO11A
Types of units supported
2 Assembly/Installation
2.1 Types of units supported
The DFO11A option for connection to CANopen can be used with all drive inverters in
the MOVIDRIVE®series.
2.2 Installation of option pcb
Before you begin • Take appropriate ESD measures (anti-static band, conductive shoes, etc.) before
touching the option pcb.
• Keep option pcb in its original packaging and remove it only when you are ready to
install it.
• Avoid frequent touching of the option pcb and hold the pcb only at the edges. Do not
touch any components.
Installation of
option pcb
• Disconnect the supply voltage of the inverter. Switch off the supply voltage and the
24 V supply, if necessary.
• Remove lower cover from control unit.
• Unscrew electronics shield terminal.
• Remove black cover plate.
• Insert option pcb into guide rails of slot OPTION1 and push it into the slot.
• Apply moderate pressure to the front plate of the option pcb while pushing it into the
slot. The pcb is seated correctly when it is level with the controller pcb.
• Replace and fasten electronics shield terminal.
• Replace cover on the control unit.
• The installation of DFO11A option pcb is now complete.
2.3 Connector wiring and connector pin assignment
Connector wiring The DFO11A option contains a 9-pin Sub D connector. The CAN bus is connected via
the 9-pin male Sub D connector. Since the spur line must be kept short, T-connectors
may not be used. Instead, the bus lines must be directly looped through the connector
(see Figure 2).
03679AXX
Figure 2: Cabling of CAN bus (top view)
MOVIDRIVE
®
MOVIDRIVE
®

CANopen Fieldbus Interface DFO11A
7
2
Shielding and routing of bus cables
Connector pin
assignment
Figure 3 shows the pin assignment of the 9-pin Sub-D coupling. This connector pin
assignment corresponds to the CiA (CAN in Automation) recommendations. In order to
avoid EMC problems, connectors with metallic connector housings or metallized
housings must be used to connect the inverter to the CAN bus.
The assignment of terminals is described in "CANopen Specification CIA DR-303-1".
2.4 Shielding and routing of bus cables
Professional shielding of the bus cables attenuates electrical interference that may
occur in industrial environments.
Measures for
good shielding
properties
• Tighten the mounting screws on the connectors, modules, and potential-
compensation cables by hand.
• Do not route signal and bus cables parallel to line cables (motor leads). They must
be routed in separate cable conduits.
• Use metallic, grounded cable racks in industrial environments.
• Route the signal cable and the corresponding potential compensation in close
proximity using the shortest way possible.
• Avoid extending bus lines by means of connectors.
• Route the bus cables closely alongside existing grounding areas.
• Use bus connectors with metallized or metallic housing.
Bus termination In order to avoid disruptions in the bus system due to reflections, etc., every CANopen
segment at the physically first and last participant must be terminated using 120 Ωbus
terminating resistors. Optionally, a bus terminating resistor with a DIP switch can be
connected to the circuit for a DFO11A.
03680AXX
Figure 3: Connector pin assignment
235 14
6789
CAN_L
CAN_GND
(CAN_SHLD)
(GND)
CAN_H
CAN_V+
male
CAUTION!
If ground potential fluctuations are present, a compensating current may flow via the
shield that is bilaterally connected and connected with ground potential (PE). In this
case, ensure that sufficient compensation potential is present in accordance with
relevant VDE regulations.

2
8
CANopen Fieldbus Interface DFO11A
Setting the DIP Switches
2.5 Setting the DIP Switches
The CANopen DFO11A pcb has 16 DIP switches.
One DIP switch is used to connect the terminating resistor, two DIP switches are used
to set the baud rate, and 7 DIP switches are used to set the CANopen slave ID (node
address). An additional three switches set the number of process data words (Figure 4).
The default settings of the pcb at delivery are: Baud rate = 500 kbps, Module ID = 1,
Number of process data = 2.
03766AXX
Figure 4: DIP switch
Designation Meaning Switch
PD(0) ... PD(2) Number of process data S1-0 ... S1-2
NA(0) ... NA(6) Module ID S1-3 ... S1-9
DR(0) ... DR(1) Baud rate S1-10 ... S1-11
nc No function S2-0 ... S2-2
R Terminating resistor S2-3
DFO
PD(2)
PD(1)
PD(0)
NA(6)
NA(5)
NA(4)
NA(3)
NA(2)
NA(1)
NA(0)
DR(1)
DR(0)
BUS
OFF
STATE
GUARD
COMM
S1
11
0
1234
CANopen
1234 1234
nc
R
S2
X30
CANopen
3
0
1234

CANopen Fieldbus Interface DFO11A
9
2
Setting the DIP Switches
CAN bus
terminating
resistor
DIP switch "R" can be used to connect a terminating resistor for the CAN bus to the
system. This terminating resistor must be switched on at the first and the last device on
the CAN bus and must be switched off at all other devices.
CAN bus baud
rate
DIP switches DR0 and DR1 are used to adjust the baud rate to the CAN bus. The baud
rate is set using the following table:
CANopen
address
The DIP switches NA0 ... NA5 can be used to select a CANopen address in the range
1 ... 127.
The address is calculated as follows:
Address = NA0 + 2*NA1 + 4*NA2 + 8*NA3 + 16*NA4 + 32*NA5 + 64*NA6
Number of
process data
words
The DIP switches PD0 through PD2 determine the number of process data words to be
transmitted (possible numbers are 1 through 8). Generally, the number of process input
data words (PI) and process output data words (PO) is identical. Since a PDO can
transmit no more than 8 bytes, a maximum of 4 process data words can be transferred
with one PDO. If more than 4 process data words are to be transferred, a second PDO
channel (PDO2) is used). However, the SEW MOVILINK®profile provides for only 3
process data words. The remaining 5 process data words can be used exclusively by
IPOS programs.
The number of process data words, the resulting process data channels (PDOs), and
the position of the DIP switches are determined using the following table:
Baud rate DR0 DR1
125 kbps off off
250 kbps on off
500 kbps off on
1 Mbps on on
Caution: The CANopen address 0 (all NA DIP switches set to off) is invalid!
Number of process
data words
(PI and PO)
Number of IPOS
process data
words
Total number of
process data
words
Number
of PDOs PD0 PD1 PD2
1 0 1 1 off off off
2 0 2 1 on off off
3031offonoff
3 1 4 1 on on off
3 2 5 2 off off on
3 3 6 2 on off on
3 4 7 2 off on on
3 5 8 2 on on on

2
10
CANopen Fieldbus Interface DFO11A
Display elements
2.6 Display elements
The display elements consist of 4 two-colored LEDs.
BUSOFF LED
STATE LED
GUARD LED
COMM LED
Function Abbreviation
CAN bus status BUSOFF
CANopen status STATE
Node guarding GUARD
Send or receive COMM
Status LED Meaning
NO ERROR Off The number of bus errors is within the normal range (Error-Active-State).
BUS WARNING Flashes red (approx. 1 s
cycle) The number of physical bus errors is too high. No more error messages are actively written to the bus (Error-Passive-State).
OVERFLOW Flashes red (approx. 250 ms
cycle) The cycle time on the bus is too small. Therefore, the CAN controller has rejected at least one message.
Red BusOFF state
The number of physical bus errors has continued to grow despite a switch to the
Error-Passive-State. Access to the bus is deactivated.
CONFIG. ERROR Red, the other three LEDs
flash green (approx. 1 s
cycle)
The invalid value 0 was entered as node ID via the DIP switches. However,
operation requires that the node ID be set higher than 0 (see Section [Assembly/
Installation]) / [Setting of the DIP Switches] / [CANopen Address]).
Status LED Meaning
Pre-operational Flashes green See Section [Project Planning/Startup] /
[Data Exchange with CANopen] / [Unit
Status and NMT Services]
Operational Green
Stopped Off
Status LED Meaning
Node guarding Timeout Flashes green See Section [Project Planning/Startup] /
[Data Exchange with CANopen] / [Node
Guarding]
Node guarding active and ok Green
Node guarding not active Off
LED Meaning
Flashes green Message received for this node
Flashes green Message sent

CANopen Fieldbus Interface DFO11A
11
3
Data exchange with CANopen
3 Project Planning/Startup
3.1 Data exchange with CANopen
Unit status and
NMT services
The CANopen option pcb supports the "minimum capability device", that is, it supports
"pre-operational", "operational," and "stopped" statuses. In the "pre-operational" status,
the unit can communicate via SDOs only (see Section [Project Planning/Startup] / [Data
Exchange with CANopen] / [SDOs and Their Services]). In "operational" status, PDOs
and SDOs can be exchanged, and in "stopped" status, neither SDOs nor PDOs can be
exchanged.
After power on, the CANopen option pcb is automatically in "pre-operational" status.
Changing status The status can be changed at any time using NMT1services.
The following commands can be used:
• (6) Node_Start indication
• (7) Node_Stop indication
• (8) Enter_Pre-Operational_State indication
• (10) Reset_Node indication
This command resets the complete inverter, and the CANopen option pcb sets its
default settings in the object directory.
• (11) Reset_Communication
This command initiates a reset of communication parameters in the object directory.
• (12) "Initialisation" finished – changes automatically to "Pre-Operational."
03686AXX
Figure 5: Status diagram for CANopen devices
Stopped
Initialisation
Pre-Operational
Operational
(10)
(11) (12)
(6) (8)
(6) (7)
(7)
(8)
Power on
1. Network Management
00
I

3
12
CANopen Fieldbus Interface DFO11A
Data exchange with CANopen
Structure of CAN
messages
CAN messages are structured as follows:
Node ID corresponds to the address set with the DIP switches (see
Assembly/
Installation
/ Setting of the DIP Switches ). In addition, the 0 value can be used for the
node ID; in this case, all CANopen devices are addressed.
NMT services are not confirmed by the slave.
SDOs and their
services
SDOs (Service Data Objects) are used to set parameters and read out the configuration
of the inverter. SDOs are capable of loading large data amounts into the inverter, but are
relatively slow. In order to send SDOs from or to the inverter, the following services can
be applied to SDOs:
The
Normal Transfer is implemented only for uploads of objects 0x1008 - 0x100A, all
others are transferred using
Expedited Transfer during upload since their maximum
length measures 4 bytes.
The response time for download or upload is not specified; among other things, it is
dependent upon the system load. That is: the bus load and the number of incoming
PDOs.
The parameters, their indexes and subindexes can be found in Section [Project
Planning/Startup] / [Data Exchange with CANopen] / [Object Directory].
NMT service ID Byte 1 Byte 2
Node_Start 0x0000 0x01 Node ID
Node_Stop 0x0000 0x02 Node ID
Enter_Pre-Operational_State 0x0000 0x80 Node ID
Reset_Node 0x0000 0x81 Node ID
Reset_Communication 0x0000 0x82 Node ID
• Multiplexed Download Domain (write access)
• Initiate Domain Download Protocol
• Expedited Transfer
• Normal Transfer (net data length > 4 bytes)
• Multiplexed Upload Domain (read access)
• Initiate Domain Upload Protocol
• Expedited Transfer
• Normal Transfer (net data length > 4 bytes)
• Abort Domain Transfer (if protocol errors occur)
00
I

CANopen Fieldbus Interface DFO11A
13
3
Data exchange with CANopen
Example: Read
access "Device
Type"
The following example shows a read access to the entry "Device Type" in the inverter
with the CANopen address = 3 as set by the DIP switches:
For read access, the controller must send the protocol "Initiate Multiplexed Upload
Domain."
This protocol ensures that CAN messages are always 8 bytes long.
The option pcb sends the following as an answer:
Example: Write
access
Analogous to this, a write access to index 0x100C, subindex 0x00 (Guard Time). This
entry is set to 10000 ms (0x2710).
First, the controller sends an "Expedited Download" request.
Upon successful execution (the CANopen option pcb checks index, subindex, write
permission, data type and, if necessary, whether the transmitted value is permitted), the
CANopen option pcb responds.
ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
0x600+Node
ID=0x603 0x40 0x00 0x10 0x00 0x00 0x00 0x00 0x00
ID for SDO Expedited
Upload Index low Index high Subindex Value has no effect
ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
0x580+NodeI
D=0x583 0x431)
1) This value applies only to the listed message. This value may change for other indexes depending on
data type; see CANopen DS301.
0x00 0x10 0x00 0x2D 0x01 0x00 0x00
ID for SDO Expedited
Upload Index low Index high Subindex Response, low Response Response Response, high
ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
0x600+NodeI
D=0x603 0x231)
1) This value applies only to the listed message. This value may change for other indexes depending on
data type; see CANopen DS301.
0x0C 0x10 0x00 0x10 0x27 0x00 0x00
ID for SDO Expedited
Download Index low Index high Subindex Value, low Value, high Filler byte Filler byte
ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
0x580+Node
ID=0x583 0x601)
1) This value applies only to the listed message. This value may change for other indexes depending on
data type; see CANopen DS301.
0x00 0x10 0x00 0x00 0x00 0x00 0x00
ID for SDO Expedited
Download Index low Index high Subindex Value has no effect
00
I

3
14
CANopen Fieldbus Interface DFO11A
Data exchange with CANopen
Faulty service
operation
If an error occurs, the DFO11A transmits an Abort message. The Abort message
contains an error code that describes the cause of the error.
PDOs CANopen allows the quick exchange of process data between controller and inverter by
means of PDOs (Process Data Objects). In order to enable a CANopen unit to exchange
PDOs, the unit must have been set to the "operational" status via NMT commands
(Section [Project Planning/Startup] / [Data Exchange with CANopen] / [Unit Status and
NMT Services]). The process data (optionally 1, 2, or 3) of the MOVILINK®protocol can
be exchanged with the PDOs. If the 3 process data are not sufficient for control, up to 5
additional IPOS control words can be transmitted for further processing by an IPOS
program in the inverter. The corresponding mapping is determined automatically by the
setting of the DIP switches (Section [Assembly/Installation] / [Setting of the DIP
Switches]).
The transmission rate of a PDO, however, must always be kept at or below 1 ms per
PDO in order to ensure the transfer of all data.
RX-PDOs The RX-PDO is defined as the PDO in the CANopen profile that was sent from the
controller to the inverter. The process data are accepted asynchronously by the
CANopen option pcb.
RX-PDOs correspond to the following scheme:
RX-PDO1:
RX-PDO2:
The length and number of RX-PDOs can be set by adjusting the setting of the DIP
switches (Section [Assembly/Startup] / [Setting of the DIP Switches]).
ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
0x580+Node
ID=0x583 0x80 0x00 0x10 0x00
ID for SDO SDO abort Index low Index
high Subindex Add. code low Add. code high Error code Error class
ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
0x200+Node
ID =0x203 PO1 (low) PO1 (high) PO2 (low) PO2 (high) PO3 (low) PO3 (high) IPOS- PO1
(low)
IPOS-
PO1
(high)
ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
0x300+Node
ID =0x303 IPOS- PO2
(low)
IPOS-
PO2
(high)
IPOS-
PO3
(low)
IPOS-
PO3
(high)
IPOS-
PO4
(low)
IPOS-
PO4
(high)
IPOS-
PO5
(low)
IPOS-
PO5
(high)
00
I

CANopen Fieldbus Interface DFO11A
15
3
Data exchange with CANopen
TX-PDO TX-PDOs are transmitted by the inverter. The TX-PDO is transmitted only upon
reception of an RX-PDO or reception of an RTR-TX-PDO. An RTR-TX-PDO causes the
inverter to place its process input data on the CAN bus without requiring new process
output data to the inverter. For this purpose, the RTR bit must be set in the CAN
message of the TX-PDO.
TX-PDOs are structured similar to RX-PDOs, but they contain process input data words
(PI) instead of process output data words (PO). Like RX-PDOs, the length and number
of TX-PDOs can be set by adjusting the setting of the DIP switches (Section [Assembly/
Startup] / [Setting of the DIP Switches]).
TX-PDO1:
TX-PDO2:
PDO mapping
The CANopen option pcb supports only one default mapping because of speed
compatibility. Using this type of mapping, the option pcb is capable of sending PDOs
with the shortest possible latency.
COB-IDs
ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
0x180+Node
ID =0x183 PO1 (low) PO1 (high) PO2 (low) PO2 (high) PO3 (low) PO3 (high) IPOS- PO1
(low)
IPOS-PO1
(high)
ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
0x280+Node
ID =0x283 IPOS- PO2
(low)
IPOS-
PO2
(high)
IPOS-
PO3
(low)
IPOS-
PO3
(high)
IPOS-
PO4
(low)
IPOS-
PO4
(high)
IPOS-
PO5
(low)
IPOS-
PO5
(high)
Object Default COB-ID
TX-PDO1 0x180 + Node ID
TX-PDO2 0x280 + Node ID
RX-PDO1 0x200 + Node ID
RX-PDO2 0x300 + Node ID
TX-SDO 0x580 + Node ID
RX-SDO 0x600 + Node ID
Node guarding 0x700 + Node ID
NMT 0x0000
00
I

3
16
CANopen Fieldbus Interface DFO11A
Data exchange with CANopen
Node-guarding The CANopen option pcb supports two types of node guarding.
For one, the network master can check whether the individual nodes are still operational.
To accomplish this, a node guarding object with set RTR bit must be sent to the nodes
(example for node ID "3"):
At standby, the node responds with a corresponding node guarding object that returns
the current operating status (see Section [Project Planning/Startup] / [Data Exchange
with CANopen] / [Unit Status and NMT Services]) and a toggle bit.
The toggle bit changes with every message between 0 and 1. Using the response, the
network master can determine whether the CANopen participants are still in their
original status or whether the status has changed due to an error. For example: the
CANopen option pcb always changes to the "pre-operational" state if a reset of the
inverter occurs.
Lifeguarding In the second type of node-guarding, the CANopen slaves check their NMT master. For
this purpose, a timeout period in milliseconds can be set with indexes 0x100C ("guard
time") and 0x100D ("life time factor"). This timeout period is calculated by multiplying life
time factor * guard time. Timeout periods smaller than 10 ms are rejected by the
CANopen option pcb.
The second type of node guarding is active only if a timeout period is set to a value other
than 0 (that is, life time factor ≠0 and guard time ≠0). If the master does not trigger a
"Node Event" within the timeout period, the inverter responds using the fieldbus timeout
programmed response (P831).
Exception: The timeout response (P831)isprogrammedwith "No Response"or"Display
Error," and timeout monitoring is activated via CANopen – which is not appropriate.
Activation of node guarding is signalled by continuous illumination of GUARD-LED.
ID RTR Message length
0x700+Node ID= 0x703 Yes 0 bytes
ID RTR Byte 1
0x700+Node ID= 0x703 No Bit 7: Toggle bit
Bit 0 ... 6: Operating status
Operating status:
operational = 5
pre-operational = 127
stopped = 4
Caution!
The timeout period set by the controller can be read with P819 via MOVITOOLS, but it
may not be changed using MOVITOOLS; instead, it may only be changed by the
controller via CANopen objects 0x100C ("guard time") and 0x100D ("life time factor").
For example, if a timeout error occurs due to wire breakage, the RX setpoint values in
the inverter are set to zero as a precaution. This prevents an immediate restart of the
machine in case the timeout response P831 was programmed only to warn and a node-
guarding object is received after a timeout while the controller has not yet sent new
process output data.
00
I

CANopen Fieldbus Interface DFO11A
17
3
Data exchange with CANopen
Node Event Node guarding is active in all operating states following the first reception of a "Node
Event" from the master.
With this CANopen option pcb, the Node Event can be chosen freely from the following
events:
• reception of an RTR Guard message from the master
• reception of an RX-PDO1
• reception of an RX-PDO2
Node Event can be programmed with object index 0x2010, subindex 0, whereby the
object (an UNSIGNED32) is structured as follows:
For the time being, bits 3 through 31 are not defined and must always be 0.
The default value following a CANopen reset is 1; that is, only RTR Guard messages
are accepted as Node Event.
Sync object The optional Sync Object presented by CANopen is not analyzed by the CANopen
option pcb.
Error detection Errors in the inverter can be detected by checking the index 0x1001 (Error Register) or
0x1002 (Manufacturer Status Register). But in order to keep the bus load as low as
possible, it is practical to place the status word after a process input data word. This
allows for quick error detection without creating an additional bus load. Additional
signalling options, especially the emergency object, were not implemented.
"Error History" includes a maximum of the last five errors. These errors can be queried
via the index area of the inverter or in accordance with CANopen profile via object
0x1003. If a "0" is written into this object at subindex 0, the "Error History" will be deleted.
Object directory All CANopen objects relevant for DFO11A are entered in the CANopen object directory.
The object directory is divided into two areas:
• Communication-specific profile area (index 0x1000 - 0x1BFF)
• Manufacturer-specific profile area (index 0x2000 - 0x5FFF)
All communication-specific objects and some objects especially relevant for DFO11A
are listed in their entirety in the appendix.
The manufacturer-specific objects of the MOVIDRIVE®inverter are described in the
fieldbus unit profile.
However, CANopen allows only Read and Write services to the manufacturer-specific
objects via SDO. If the SEW-specific services of the MOVILINK®fieldbus unit profile
should be used (e.g., read minimum, read maximum, read default, write volatile, ...), this
can be accomplished using a detour via objects 0x2066 and 0x2067. Object 0x2067 (a
SIGNED32) contains the data intended to list the next MOVILINK®or the result of the
last MOVILINK®service if it was successful.
Bit 2 Bit 1 Bit 0
Every RX PDO 2 represents a
Node Event Every RX PDO 1 represents a Node Event Every incoming RTR Guard message represents a Node
Event
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Writing to object 0x2066 triggers the MOVILINK®service.
Objekt 0x2066 (UNSIGNED32) is structured as follows:
The exact meaning of the management byte is described in the fieldbus device profile,
Section [Structure of the MOVILINK®Parameter Channel].
If an error occurs, the MOVILINK®error codes are returned with Abort SDO.
Example 1 Determine the possible maximum (service "Read Maximum") for index 0x2116 (ramp on
right) from the inverter:
The management byte must accept the value 0x35, the reserved byte is set to 0.
Therefore, object 0x2066 is written with the value 0x35002116 via an SDO.
The possible maximum can then be read from object 0x2067 via an SDO.
Example 2 Write index 0x2116 (ramp on right) volatile with value 0x1234 (service "write volatile"):
Before this service is carried out, the MOVILINK®service data (index 0x2067) must be
set to value 0x1234. This is accomplished by a writing SDO to index 0x2067.
Then carry out the MOVILINK®service by writing the value 0x33002116 to index
0x2066.
Residential Storing of Operating Parameters in No-Voltage Condition
The communications parameters with indexes in the range 0x1000 ... 0x2000 are not
saved when power is shut down. After power-up, the default values are reloaded from
ROM. All other parameters are saved even in the no-voltage condition, except if they
were changed using the "write volatile" command.
3.2 Startup
This section describes the startup of the MOVIDRIVE®inverter with the DFO11A option
by means of the operator software or the DBG11A keypad, Version .13 or higher.
Bit 31 - Bit 24 Bit 23 - Bit 16 Bit 15 - Bit 8 Bit 7 - Bit 0
Management Reserved Index high Index low
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Startup
Inverter control
mode fieldbus
After installing the CANopen option pcb and setting the baud rate, node ID, and number
of process data (via DIP switches), the MOVIDRIVE®inverter can be parameterized
without further settings via the fieldbus system. For example, after power-up, all drive
parameters from the higher-level programmable controller can be downloaded directly
using CANopen.
Control mode Before controlling the inverter via CANopen, it must be switched to the corresponding
control mode. This can be achieved with parameter P100 (index 8461) setpoint source
and P101 (index 8462) control source. Based on factory settings, these parameters are
set to the values bipolar/fixed setpoint or terminals (setpoint processing via analog
setpoint value and control via input terminals).
Setpoint source With the setting P100 setpoint source = FIELDBUS, the inverter takes over the setpoint
values from the fieldbus; and with P101 = FIELDBUS, the inverter is controlled via the
fieldbus (that is, enable, quick stop, normal stop, controller inhibit, etc.). The
MOVIDRIVE®inverter now responds to the process output data sent from the higher-
level programmable controller.
The control source "Fieldbus" (P101) is signalled to the higher-level controller using the
bit "fieldbus mode active" in the status word.
Safety For safety reasons, the inverter must also be enabled on the terminal side for control via
the fieldbus system. Subsequently, the terminals must be connected or programmed so
that the inverter is enabled via the input terminals. The simplest way of enabling the
inverter at the terminal side consists of connecting the input terminal DI00 (Function/
CONTROLLER INHIBIT) with a +24 V signal and programming the input terminals DI01
through DI05 to WITHOUT FUNCTION.
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CANopen Fieldbus Interface DFO11A
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Procedure for
startup
Procedure for startup of the inverter MOVIDRIVE®with fieldbus interface:
1. Switch drive inverter to ENABLE on the terminal side.
Connect input terminal DI00 (Function/CONTROLLER INHIBIT) to a +24 V signal
(via wire jumper).
03692BXX
Figure 6: Connection for enable
[A] The drive inverter can be enabled on the terminal side via this wire jumper!
X13 DI00: /Controller inhibit X10 TF1: TF input
DI01 ... X13:DI05: No function DGND: Reference potential binary
signals
DCOM: Reference DI00 ... DI05 DB00: /Brake
VO24: + 24 V DO01-C: Relay contact
DGND: Reference potential binary signals DO01-NO: Relay NO contact
ST11: RS-485 + DO01-NC: Relay NC contact
ST12: RS-485 - DO02: /Malfunction
VO24: + 24 V
VI24: + 24 V (external)
X13:
DI00
DI01
DI02
DI03
DI04
DI05
V024
DCOM
DGND
ST11
ST12
X10:
VI24
DGND
TF1
DGND
DB00
DO02
VO24
DO01-C
DO01-NO
DO01-NC
+
−
MOVIDRIVE
®
24V ext.
[A]
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