Siemens SINAMICS S120 Installation and operation manual

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Preface
Add infeed
1
Prerequisites for
commissioning
2
Commissioning
3
Diagnosis
4
Communication objects
5
Parameters, faults and
alarms, function diagrams,
terminology
A
SINAMICS
SINAMICS S120
CANopen interface
Commissioning Manual
12.2004 Edition
6SL3097-2AA00-0BP1
Inner title infofield

Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring to property damage only have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
Danger
indicates that death or severe personal injury will result if proper precautions are not taken.
Warning
indicates that death or severe personal injury may result if proper precautions are not taken.
Caution
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.
Caution
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.
Notice
indicates that an unintended result or situation can occur if the corresponding information is not taken into
account.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The device/system may only be set up and used in conjunction with this documentation. Commissioning and
operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes
in this documentation qualified persons are defined as persons who are authorized to commission, ground and
label devices, systems and circuits in accordance with established safety practices and standards.
Prescribed Usage
Note the following:
Warning
This device may only be used for the applications described in the catalog or the technical description and only in
connection with devices or components from other manufacturers which have been approved or recommended
by Siemens. Correct, reliable operation of the product requires proper transport, storage, positioning and
assembly as well as careful operation and maintenance.
Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.
Copyright Siemens AG 2004. All rights reserved.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the
hardware and software described. Since variance cannot be precluded entirely, we cannot
guarantee full consistency. However, the information in this publication is reviewed
regularly and any necessary corrections are included in subsequent editions.
Siemens AG
Automation and Drives
Postfach 4848, 90327 Nuremberg, Germany
Siemens AG 2005
Technical data subject to change
Siemens Aktiengesellschaft 6SL3097-2AA00-0BP1

Preface
Information on the SINAMICS S documentation
The SINAMICS S documentation is divided into the following areas:
• General documentation/catalogs
• Manufacturer/service documentation
• Electronic documentation
This documentation is an integral part of the manufacturer/service documentation developed
for SINAMICS. All documents can be obtained separately.
You can obtain detailed information about the documents named in the documentation
overview and other documents available for SINAMICS from your local Siemens office.
For the sake of simplicity, this documentation does not contain all detailed information about
all types of the product and cannot cover every conceivable case of installation, operation, or
maintenance.
The contents of this documentation are not part of an earlier or existing agreement, a
promise, or a legal agreement, nor do they change this. All obligations entered into by
Siemens result from the respective contract of sale that contains the complete and sole valid
warranty arrangements. These contractual warranty provisions are neither extended nor
curbed as a result of the statements made in this documentation.
Audience
This documentation is aimed at machine and plant builders, commissioning engineers, and
service personnel who use SINAMICS.
CANopen interface
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1 iii

Preface
Objective
Note
"SINAMICS S120 CANopen Interface" describes the steps involved in commissioning a
CANopen interface in the SINAMICS S120 drive line-up.
This Installation and Start-Up Manual extends the description of "Initial commissioning using
servo as an example" to include a description of the initial commissioning procedure for the
CANopen communication interface with the CBC10 Communication Board.
Detailed instructions on commissioning the entire SINAMICS S120 drive line-up are
available in the SINAMICS S120 /IH1/ Installation and Start-Up Manual.
Definition: qualified personnel
With reference to this manual and the warning labels on the product, a "qualified person" is
someone who is familiar with the installation, mounting, start-up, and operation of the
equipment and who has certified qualifications for the type of responsibility involved, such
as:
• Training and instruction, i.e. authority to switch on and off, to earth and to label circuits
and equipment according to safety regulations.
• Trained in the proper care and use of protective equipment in accordance with
established safety procedures.
• First aid training.
Finding information
To help you find information more easily, the following sections have been included in the
appendix in addition to the table of contents:
1. References
2. Index
CANopen interface
iv Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1

Preface
Technical information
Hotline
If you have any further questions, please call our hotline:
A&D Technical Support
Tel.: [phone] - 222
Fax: [phone] - 223
http://www.siemens.de/automation/supportrequest
Please send any questions about the documentation (suggestions for improvement,
corrections, and so on) to the following fax number or e-mail address:
Fax: [phone] - 2176
Fax form: See feedback page at the end of this publication
E-mail: [e-mail]
Internet Address
Up-to-date information about our products can be found on the Internet at the following
address:
http://www.siemens.com/motioncontrol
CANopen interface
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1 v

Preface
ESD notices
Caution
Electrostatic sensitive devices (ESDs) are individual components, integrated circuits, or
boards that may be damaged by either electrostatic fields or electrostatic discharge.
Regulations for handling ESD components:
When handling components, make sure that personnel, workplaces, and packaging are well
earthed.
Personnel in ESD areas with conductive flooring may only handle electronic components if:
They are grounded with an ESD wrist band
They are wearing ESD shoes or ESD shoe grounding straps
Electronic boards should only be touched if absolutely necessary. They must only be
handled on the front panel or, in the case of printed circuit boards, at the edge.
Electronic boards must not come into contact with plastics or items of clothing containing
synthetic fibers.
Boards must only be placed on conductive surfaces (work surfaces with ESD surface,
conductive ESD foam, ESD packing bag, ESD transport container).
Do not place boards near display units, monitors, or television sets (minimum distance from
screen: 10 cm).
Measurements must only be taken on boards when:
The measuring instrument is grounded (via protective conductors, for example).
The measuring probe is briefly discharged before measurements are taken with an isolated
measuring device (for example, touching a bare metal housing).
CANopen interface
vi Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1

Preface
Safety guidelines
Danger
Commissioning must not start until you have ensured that the machine in which the
components described here are to be installed complies with Directive 98/37/EC.
SINAMICS S equipment must only be commissioned by suitably qualified personnel.
Personnel must take into account the information provided in the technical customer
documentation for the product, and be familiar with and observe the specified danger and
warning notices.
When electrical equipment and motors are operated, the electrical circuits automatically
conduct a dangerous voltage.
Dangerous mechanical movements may occur in the system during operation.
All work on the electrical system must be performed after the system has been switched off
and disconnected from the power supply.
SINAMICS S equipment with three-phase motors may only be connected to the line system
via residual current devices (RCDs) if compatibility of the SINAMICS equipment with the
RCD has been ensured as specified in EN 50178, Subsection 5.2.11.2.
Warning
Correct and safe operation of SINAMICS S equipment assumes correct transportation,
storage, setup, and installation, as well as careful operation and maintenance.
The details in the catalogs and proposals also apply to the design of special equipment
versions.
In addition to the danger and warning information provided in the technical customer
documentation, the applicable national, local, and system-specific regulations and
requirements must be taken into account.
Only protective extra-low voltages (PELVs) that comply with EN60204-1 must be connected
to all connections and terminals between 0 and 48 V.
CANopen interface
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1 vii

Preface
Caution
As part of routine tests, SINAMICS equipment with three-phase motors will undergo a
voltage test in accordance with EN 50178. Before the voltage test is performed on the
electrical equipment of industrial machines to EN 60204-1, Section 19.4, all connectors of
SINAMICS equipment must be disconnected/unplugged to prevent the equipment from
being damaged.
Motors must be connected in accordance with the circuit diagram provided. They must not
be connected directly to the three-phase supply because this will damage them.
Note
When operated in dry operating areas, SINAMICS equipment with three-phase motors
conforms to low-voltage Directive 73/23/EEC.
SINAMICS equipment with three-phase motors conforms to EMC Directive 89/336/EEC in
the configurations specified in the associated EC Certificate of Conformity.
Caution
Operating the equipment in the immediate vicinity (< 1.5 m) of mobile telephones with a
transmitter power of > 1 W may lead to incorrect operation.
CANopen interface
viii Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1

Table of contents
Preface ...................................................................................................................................................... iii
1 Add infeed .............................................................................................................................................. 1-1
1.1 Previous knowledge................................................................................................................... 1-1
1.2 Commissioning options.............................................................................................................. 1-1
1.3 Terminology ............................................................................................................................... 1-2
1.4 CAN bus structure for SINAMICS.............................................................................................. 1-6
1.5 What does the CANopen slave software describe? .................................................................. 1-7
1.6 CANopen object directory .......................................................................................................... 1-8
1.7 Manufacturer-specific objects .................................................................................................. 1-10
1.8 What is the maximum number of PDOs (channels) that can be created? .............................. 1-12
1.9 Which transmit and receive message frames for process data are required? ........................ 1-13
1.10 What is PDO mapping? ........................................................................................................... 1-15
1.11 What is a COB ID?................................................................................................................... 1-16
1.12 What are SDO services? ......................................................................................................... 1-18
1.13 What is a BICO interconnection in conjunction with CANopen? ............................................. 1-19
1.14 How does SINAMICS S120 behave during ramp-up with the CANopen Communication Board?
................................................................................................................................................. 1-20
1.15 What does network management (NMT service) mean? ........................................................ 1-21
2 Prerequisites for commissioning ............................................................................................................. 2-1
2.1 Prerequisites for commissioning ................................................................................................ 2-1
2.2 CBC10 Communication Board for CAN bus .............................................................................. 2-2
2.2.1 CBC10 Installation ..................................................................................................................... 2-4
2.2.2 CANopen functionality ............................................................................................................... 2-5
2.2.3 Diagnostics LED "OPT" ............................................................................................................. 2-6
2.3 STARTER commissioning tool................................................................................................... 2-8
2.3.1 The STARTER user interface .................................................................................................... 2-8
2.3.2 BICO interconnection procedure in STARTER.......................................................................... 2-9
2.3.3 Entering parameter values in the expert list ............................................................................ 2-15
3 Commissioning ....................................................................................................................................... 3-1
3.1 Initial commissioning procedure................................................................................................. 3-2
3.2 Sample configuration ................................................................................................................. 3-3
3.3 Making the hardware settings on CBC10 .................................................................................. 3-4
3.4 Configuring the drive unit using the STARTER commissioning tool.......................................... 3-6
3.4.1 Searching for the drive unit ONLINE ......................................................................................... 3-7
CANopen interface
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1 ix

Table of contents
3.4.2 Determining the component topology and configuration of the drive unit automatically ........... 3-8
3.4.3 Configuring the motor............................................................................................................... 3-11
3.4.4 Configuring the interface for the CBC10 Option Board on the Control Unit ............................ 3-14
3.4.4.1 CAN interface........................................................................................................................... 3-14
3.4.4.2 PDO message frame................................................................................................................ 3-17
3.4.4.3 Monitoring................................................................................................................................. 3-19
3.4.5 Activating the "predefined connection set"............................................................................... 3-21
3.4.6 Loading the project to the drive unit......................................................................................... 3-22
3.4.7 Interconnecting the infeed........................................................................................................ 3-24
3.5 Configuring the COB IDs and process data objects for the receive and transmit message
frames. ..................................................................................................................................... 3-25
3.5.1 Predefined COB IDs and process data objects for the drive objects....................................... 3-26
3.5.2 Activating "free PDO mapping" ................................................................................................ 3-29
3.5.3 Assigning COB IDs and mapping parameters for free PDO mapping..................................... 3-30
3.5.4 Interconnecting the receive and transmit buffers..................................................................... 3-36
3.6 Interconnecting process data in the receive and transmit buffers ........................................... 3-37
3.6.1 Reading the image of the individual process data objects for the receive and transmit buffers.. 3-
38
3.6.2 Interconnecting process data for transmission message frames............................................. 3-41
3.6.2.1 Interconnecting the receive buffer............................................................................................ 3-42
3.6.2.2 Interconnecting the transmit buffer .......................................................................................... 3-45
3.6.2.3 Interconnecting an additional drive object................................................................................ 3-48
3.7 Load the projects from the drive unit to the PC/PG in ONLINE mode and save them ............ 3-49
4 Diagnosis................................................................................................................................................ 4-1
4.1 Emergency object ...................................................................................................................... 4-1
4.2 Drive-unit-internal error list ("predefined error field") ................................................................. 4-2
4.3 Error register .............................................................................................................................. 4-2
5 Communication objects .......................................................................................................................... 5-1
5.1 Drive-independent CU320 communication objects.................................................................... 5-2
5.2 Drive-dependent communication objects................................................................................... 5-5
5.2.1 Table: communication objects for receive PDOs....................................................................... 5-6
5.2.2 Table: communication objects for transmit PDOs.................................................................... 5-11
5.3 Objects in drive profile DSP402 ............................................................................................... 5-17
A Parameters, faults and alarms, function diagrams, terminology..............................................................A-1
A.1 Parameters.................................................................................................................................A-1
A.2 Faults and alarms.......................................................................................................................A-1
A.3 Function diagrams......................................................................................................................A-2
A.4 Glossary .....................................................................................................................................A-7
Index
Tables
Table 1-1 Process data objects in the predefined connection set ........................................................... 1-13
Table 1-2 Identifier assignment ................................................................................................................ 1-16
Table 1-3 Identifier assignment ................................................................................................................ 1-17
Table 1-4 Transitions in the status diagram ............................................................................................. 1-22
CANopen interface
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Table of contents
Table 2-1 CAN bus interface X451 ............................................................................................................ 2-3
Table 2-2 CAN bus interface X452 ............................................................................................................ 2-3
Table 2-3 Diagnostics LED OPT -> red (CANopen error LED).................................................................. 2-6
Table 2-4 Diagnostics LED -> green (CANopen RUN LED)...................................................................... 2-7
Table 3-1 CANopen initial commissioning ................................................................................................. 3-2
Table 3-2 CANopen initial commissioning ................................................................................................. 3-4
Table 3-3 2-pin SMD DIL switch ................................................................................................................ 3-5
Table 3-4 CANopen initial commissioning ................................................................................................. 3-6
Table 3-5 CANopen initial commissioning ............................................................................................... 3-25
Table 3-6 Values for RPDO1 ................................................................................................................... 3-32
Table 3-7 Values for RPDO2 ................................................................................................................... 3-33
Table 3-8 Values for RPDO3 ................................................................................................................... 3-33
Table 3-9 Values for RPDO4 ................................................................................................................... 3-34
Table 3-10 Values for TPDO1.................................................................................................................... 3-34
Table 3-11 Values for TPDO2.................................................................................................................... 3-35
Table 3-12 Values for TPDO3.................................................................................................................... 3-35
Table 3-13 Values for TPDO4.................................................................................................................... 3-36
Table 3-14 CANopen initial commissioning ............................................................................................... 3-37
Table 3-15 Excerpt of "Objects in drive profile DSP402" ........................................................................... 3-42
Table 3-16 Interconnect set velocity .......................................................................................................... 3-44
Table 3-17 Interconnect the set torque ...................................................................................................... 3-44
Table 3-18 Excerpt of "Objects in drive profile DSP402" ........................................................................... 3-45
Table 3-19 Interconnect the CBC status word ........................................................................................... 3-47
Table 3-20 Interconnect the actual velocity................................................................................................ 3-47
Table 3-21 Interconnect the actual torque ................................................................................................. 3-48
Table 3-22 Interconnect the actual position value ..................................................................................... 3-48
Table 3-23 CANopen initial commissioning ............................................................................................... 3-49
Table 4-1 Structure of the emergency message frame.............................................................................. 4-2
Table 5-1 Drive-independent CU320 communication objects.................................................................... 5-2
Table 5-2 Drive-dependent communication objects for receive PDOs ...................................................... 5-6
Table 5-3 Drive-dependent communication objects for transmit PDOs................................................... 5-11
Table 5-4 Objects in drive profile DSP402............................................................................................... 5-17
CANopen interface
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1 xi

Add infeed 1
1.1 Previous knowledge
Introduction
To fully understand this Installation and Start-Up Manual, you must be familiar with CANopen
terminology.
This section includes:
• An overview of the most important terms and abbreviations
• A breakdown of the communication objects in the CANopen object directory in the
CANopen slave software
You must be familiar with the following standards:
Note
SINAMICS S120 with CANopen complies with the following standards:
- CiA DS-301 V4.01 (Application Layer and Communication Profile)
- CiA DS-402 V2.0 (Device Profile for Drives and Motion Control)
- CiA DR-303-3 V1.0 (Indicator Specification)
1.2 Commissioning options
Introduction
In the SINAMICS S120 drive line-up, the STARTER commissioning tool offers two options
for commissioning a CANopen interface:
• Via predefined message frames ("predefined connection set")
• Via free PDO mapping (user-defined message frames)
CANopen interface
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1 1-1

Add infeed
1.3 Terminology
1.3 Terminology
When using a CANopen profile via the CAN bus, you will encounter the following common
terms and abbreviations:
CAL (CAN application layer)
Communication layer above the CAN bus designed for CAN bus applications in open
communication systems. It comprises NMT, DBT, LMT, and CMS elements. Since CAL is
very extensive and highly flexible, a subset of CAL functions for automation applications has
been defined with the CANopen communication profile CiA DS 301.
CAN (controller area network)
A serial bus system (also known as CAN bus) that was originally designed for use in vehicles
but is now also used in automation technology. CANopen (see below) extends the CAN bus
protocols to include additional layers.
CAN controller
An electronic module whose hardware processes the CAN bus protocols.
CAN identifier
With the assignment of CAN identifiers to CAN messages (CANopen: PDOs, SDOs), the
relative priority of the CAN messages over one another is specified.
CANopen
A CiA-defined communication model based on the CAN bus and CAL. To make it easier to
use devices produced by different manufacturers on a bus, a subset of CAL functions for
automation applications has been defined with the CANopen communication profile CiA DS
301. Other profiles are also defined for certain device types (e.g. drives).
CiA (CAN in Automation international users and manufacturers group)
Association of manufacturers and users of devices with a CAN interface.
CMS (CAN message specification)
A part of the CAL that defines different mechanisms for transferring data.
CANopen interface
1-2 Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1

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1.3 Terminology
COB (communication object)
On the CAN bus, data is transferred in packages known as communication objects (COB) or
CAN messages.
Devices connected to the CAN bus can transmit and receive COBs.
COB-ID (COB identifier)
Each COB can be uniquely identified by means of an identifier, which is part of the COB.
CAN specification 2.0A supports up to 2048 COBs, which are identified by means of 11-bit
identifiers. In this documentation, COB IDs are always specified as hexadecimal values.
A list of COB identifiers, which contains all the COBs that can be accessed via CAN, is
available in the object directory for the relevant drive unit.
DBT (distributor)
A part of the CAL that controls the distribution of COB IDs. Like most CANopen devices, the
digital servo amplifiers use more straightforward means of assigning COB IDs to a device:
they are selected via default values on the basis of the node ID and can, if necessary, be
changed via SDO.
DRIVECOM
Association of drive manufacturers that has developed standards for networking drives
(profiles). DRIVECOM profile 22 for positioning drives, which is implemented in the servo
amplifier, was used by CiA as a basis for developing CANopen drive profile CiA DSP 402.
EMCY (Emergency)
SINAMICS S120 features an emergency object to inform other nodes on the CANopen bus
of internal device faults or CAN bus faults. It is assigned a high priority and provides
important information about the status of the drive unit.
Channel
With the SINAMICS S120 drive line-up, up to 24 receive PDOs can be received.
One channel in the CAN controller is assigned to each activated receive PDO. Transmit
PDOs are transmitted via two predefined channels.
Send PDOs always use two predefined channels.
NMT (network management)
A part of CAL used for initialization, configuration, and troubleshooting purposes.
CANopen interface
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1 1-3

Add infeed
1.3 Terminology
Node ID (node identification)
Uniquely identifies a device in the CANopen network. For this reason, all the devices must
have a unique node ID (bus address). The default distribution (standard setting) of the COB
IDs is derived from the node ID. In this documentation, node IDs are always specified as
hexadecimal values.
OD (object directory)
A "database" – or object directory – containing all the objects supported by a drive is defined
for each drive unit. The object directory contains:
• Type, description, and serial number of the device
• Name, format, description + index for each object
• Lists of PDOs and SDOs
• The data that is assigned to the PDOs
• The time at which the PDOs are transmitted (SYNC, change in object, etc.)
• The time at which emergency messages are transmitted
• ...
All the drive unit variables are accessed via objects. The SDO and PDO communication
services access the object directory of the drive unit.
PDO (process data object)
Used for accessing selected data rapidly and in real time. Mappings of certain PDOs are
preconfigured for certain variables or groups of variables.
The SDO is used to access all the other variables.
Profile
In the case of communication with bus systems, profiles are documents used for device
standardization purposes, whereby communication functions (in a communication profile),
device functions (in a device profile), or drive functions (in a drive profile) are described from
the point of view of the communication interface.
RPDO (receive PDO)
PDO is received by the device (contains the final position, for example).
SDO (service data object)
The SDO provides access to all variables in a CANopen device (in the case of drives: drive
and CANopen variables).
The SDO is generally used for configuration purposes. PDOs provide fast, real-time access
to selected variables.
CANopen interface
1-4 Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1

Add infeed
1.3 Terminology
SYNC (synchronization)
SYNC is a special message frame that synchronizes the CAN devices with each other. This
message frame has a very high priority.
TPDO (transmit PDO)
PDO transmitted by the drive (contains the actual position value, for example).
Variable
All the drive and CANopen functions can be accessed via variables.
Variables can be accessed via SDOs or PDOs.
CANopen interface
Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1 1-5

Add infeed
1.4 CAN bus structure for SINAMICS
1.4 CAN bus structure for SINAMICS
The following diagram shows an example of how the hardware and software are arranged
when a CANopen interface is commissioned.
The diagram shows the following:
• How a master application of a CANopen user is connected to a SINAMICS S120 drive
line-up.
• The CAN bus interface of the CBC10 Communication Board.
• The associated CANopen slave software on the CU320 Control Unit and the meaning of
the terms "transmit" and "receive", which are used for the transmit and receive message
frames during commissioning.
• How a PC on which the STARTER commissioning tool has been installed can be
connected via PROFIBUS.
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Figure 1-1 SINAMICS S120 drive line-up with CAN bus
CANopen interface
1-6 Commissioning Manual, 12.2004 Edition, 6SL3097-2AA00-0BP1