Vacon Vacon NX OPTC6 User manual

vacon nx
ac drives
optc6
canopen option board
user manual

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INDEX
Document code: DPD00896A
Date: 17.01.2012
1.
GENERAL ...........................................................................................................................3
2.
CANOPEN OPTION BOARD TECHNICAL DATA....................................................................4
2.1 General ..................................................................................................................................... 4
2.2 CanOpen cable.......................................................................................................................... 4
3.
CANOPEN........................................................................................................................... 5
4.
CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS .................................................. 6
4.1 CanOpen option board.............................................................................................................. 6
4.2 Bus terminal resistors ............................................................................................................. 6
4.3 LED indications......................................................................................................................... 7
4.4 Connection of CanOpen bus cable............................................................................................ 8
5.
INSTALLATION OF VACON NX CANOPEN BOARD............................................................. 13
5.1 Board information sticker ...................................................................................................... 15
6.
COMMISSIONING.............................................................................................................. 16
7.
CANOPEN-VACON NX INTERFACE ................................................................................... 19
7.1 CanOpen message frame....................................................................................................... 19
7.2 Network Management (NMT) ................................................................................................. 21
7.3 Process data (PDO)................................................................................................................. 22
7.4 Transmission types ................................................................................................................ 23
7.5 Controlling the drive via PDO messages with Drive Profile................................................... 24
7.6 Using manufacturer specific PDOs with ByPass modes........................................................ 27
7.7 Drive Monitoring..................................................................................................................... 29
7.8 Anyparameter service ............................................................................................................ 30
8.
Service Data (SDO) ........................................................................................................... 31
9.
Node Guarding Protocol................................................................................................... 42
10.
Electronic Data Sheet, EDS-file ....................................................................................... 43
11.
APPENDICES.................................................................................................................... 44
appendix a - device profile for drives ..................................................................................................... 44
appendix b – sdo messages.................................................................................................................... 45
appendix c – process data contents ....................................................................................................... 46
appendix d .............................................................................................................................................. 47

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1.
GENERAL
Vacon NX frequency converters can be connected to the CanOpen system using a fieldbus board. The
converter can then be controlled, monitored and programmed from the Host system.
The CanOpen fieldbus board shall be installed in slot E on the control board of the frequency
converter.
DANGER
Internal components and circuit boards are at high potential when the frequency
converter is connected to the power source. This voltage is extremely dangerous
and may cause death or severe injury if you come into contact with it.
NOTE!
When experiencing problems with fieldbus functionalities, please contact
[email protected].
NOTE! You can download the English and French product manuals with applicable safety,
warning and caution information from www.vacon.com/downloads.
REMARQUE Vous pouvez télécharger les versions anglaise et française des manuels produit
contenant l’ensemble des informations de sécurité, avertissements et mises en garde
applicables sur le site www.vacon.com/downloads.

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2.
CANOPEN OPTION BOARD TECHNICAL DATA
2.1
General
CanOpen
connections
Interface Open Style Connector (Pluggable connector, 5.08mm)
Data transfer
method
CAN (ISO 11898)
Transfer cable 2 wire twisted shielded cable
Electrical isolation 500 VDC
Communications CanOpen CiA DS-301
CiA DSP-402
Baud rate 10 kBaud
20 kBaud
50 kBaud
100 kBaud
125 kBaud
250 kBaud
500 kBaud
1000 kBaud
Addresses 1 – 127
Environment The specifications of the drive are applicable.
Safety Fulfils EN50178 standard
Table 2-1. CanOpen technical data
2.2
CanOpen cable
According to the ISO 11898 standard, cables to be chosen for CAN bus lines should have a nominal
impedance of 120Ω, and a specific line delay of nominal 5 ns/m. Line termination has to be provided
through termination resistors of 120Ωlocated at both ends of the line. The length related resistance
should have 70 mΩ/m. All these mentioned AC and DC parameters are suitable for a 1 Mbit/s
transmission rate.
The table below shows practical bus length for CANopen networks with less than 64 nodes:
Baudrate [Kbit/s]
Max. Bus length [m]
1000 30
800 50
500 100
250 250
125 500
50 1000
20 2500

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3.
CANOPEN
CANopen is a networking system based on the serial bus Controller Area Network (CAN). The
CANopen Communication Profile (CiA DS-301) supports both direct access to device parameters and
time-critical process data communication. CANopen device profiles (CiA DS-40x) define standards for
basic device functionality while providing ample scope for additional vendor-specific device features.
CANopen leashes the full power of CAN by allowing direct peer to peer data exchange between nodes
in an organised and, if necessary, deterministic manner. The network management functions
specified in CANopen simplify project design, implementation and diagnosis by providing standard
mechanisms for network start-up and error management.
CANopen supports both-cyclic and event-driven communication. This makes it possible to reduce the
bus load to a minimum but still maintaining extremely short reaction times. High communication
performance can be achieved at relatively low baud rates, thus reducing EMC problems and
minimising cable costs.
CANopen is the ideal networking system for all types of automated machinery. One of the
distinguishing features of CANopen is its support for data exchange at the supervisory control level as
well as accommodating the integration of very small sensors and actuators on the same physical
network. This avoids the unnecessary expense of gateways linking sensor/actuator bus systems with
higher communication networks and makes CANopen particularly attractive to original equipment
manufacturers.
Device Profile Drives and Motion Control (CiA DSP-402) document represents the standardised
CANopen Device Profile for digital controlled motion products like servo controllers, frequency
converters or stepper motors. All the above-mentioned devices use communication techniques which
conform to those described in the CANopen Application Layer and Communication Profile. The
starting and stopping of the drive and several mode specific commands are executed by the
statemachine. The operation mode defines the behaviour of the drive. The following modes are
defined in this profile:
Homing Mode
Profile Position Mode
Interpolated Position Mode
Profile Velocity Mode
Profile Torque Mode
Velocity Mode
Vacon CanOpen Option Board supports the
Velocity Mode

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4.
CANOPEN OPTION BOARD LAYOUT AND CONNECTIONS
Vacon CanOpen Board is connected to the fieldbus through a 5-pin pluggable bus connector (board
NXOPTC6).
The communication with the control board of the frequency converter takes place through the
standard Vacon Interface Board Connector.
4.1
CanOpen option board
Figure 4-1. Vacon CanOpen option board OPT-C6
Signal
Connector
Description
CAN_GND 1 Ground / 0V / V-
CAN_L
2
CAN_L bus line (dominant low)
(CAN_SHLD) 3 Optional CAN shield
CAN_H 4 CAN_H bus line (dominant high)
(CAN_V+) 5 -
Table 4-1.OPT-C6 bus connector signals
4.2
Bus terminal resistors
If Vacon drive is the last device of the CanOpen line the bus termination must be set. Use jumper X6
(ON position see Figure 4-1), or an external resistor (120Ω) connected to terminals 2 and 4.
ON OFF
X1
A
M
X6
Jumpers Interface board
connector
Grounding plate
Bus connector
1
2
3
4
5

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4.3
LED indications
The CanOpen Option Board includes two LED status indicators next to the connector: Fieldbus status
(M), CanOpen(A). Led N is unused.
Figure 4-2. LED indications on the CANopen board
CanOpen board status LED (A) GREEN
LED is: Meaning:
OFF
Option board not activated
ON Option board in initialisation state waiting for activation
command from the frequency converter
Blinking fast
(1 blink / s)
Option board is activated and in RUN state
Option board is ready for external communication
Blinking slow
(1 blink/ 5s)
Option board is activated and in FAULT state
Internal fault of option board
Fieldbus status LED (M) GREEN
LED is: Meaning:
OFF Fieldbus module is waiting for parameters from the
frequency converter
No external communication
ON Fieldbus module is activated
Parameters received and module activated
Module is waiting for messages from the bus
Blinking fast
(1 blink / s)
Module is activated and receiving messages from the bus
Blinking slow
(1 blink / 5s)
Module is in FAULT state
No messages from Master within the watchdog time
Bus broken, cable loose or Master off line
X1
A
M
X6
NGreen
Green
Not used
1
2
3
4
5

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4.4
Connection of CanOpen bus cable
The bus cable shield can be grounded in three different ways:
a) clamping the cable to the frequency converter frame
b) to the frame of the frequency converter through an RC filter
c) directly to the converter frame
Note:
Normally, the option board has already been installed in slot E of the control board. It is not
necessary to detach the whole board for the grounding of the bus cable shield. Just detach the
terminal block.
4.4.1
Grounding by clamping the cable to the converter frame
This manner of grounding is the most effective and especially recommended when the distances
between the devices are relatively short (see 4.4.2.1).
In this manner of grounding, the position of jumper X1 is of no importance
Figure 4-3. Grounding by clamping the cable to the converter frame
1Strip about 5 cm of the CanOpen cable in the same way as shown in Figure 4-4 but
cut off the
grey cable shield
.
Remember to do this for both bus cables (except for the last device).
2Leave no more than 1 cm of the data cable outside the terminal block and strip the data cables at
about 0.5 cm to fit in the terminals. See Figures 4-5 and 4-6.
Note:
Do this for both bus cabels
3Insert the data cables
of both CanOpen cables
into terminals #2 and #4. See Figure 4-7.
4Strip the CanOpen cable at such a distance from the terminal that you can fix it to the frame with
the grounding clamp. See Figure 4-4.
Error! Reference source not found.
Figure 4-4.
c
a
b
l
e
c
a
b
l
e
c
a
b
l
e
C
a
n
p
e
n
O
C
a
n
p
e
n
O
C a n p e n O

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4.4.2
Grounding the bus cable shield directly to the frequency converter frame using
jumper X1
1Set jumper
X1
in ON position:
Figure 4-5. Jumper X1 positions
2Strip about 5 cm of the CanOpen cable as shown in the picture.
Note:
Do the same for both bus cables (except for the last device). However, since the
grounding shall be done on one cable only cut off the exposed part of the other grounding
cable.
Figure 4-6.
3Leave no more than 1 cm of the red and green data cable outside the terminal block and
strip the data cables at about 0.5 cm to fit in the terminals. See pictures below.
Note:
Do this for both bus cabels.
ON
OFF
X1

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Figure 4-7.
Figure 4-8.