WEG CFW-11 Series Use and care manual

CANopen
Communication Manual
04/2008
Frequency Inverter
Series: CFW-11
Language: English
Document: 0899.5747 / 02

3
Summary
ABOUT THIS MANUAL ................................................................................................................................................ 5
ABBREVIATIONS AND DEFINITIONS.............................................................................................................. 5
DOCUMENTS.............................................................................................................................................. 5
1INTRODUCTION TO THE CANOPEN COMMUNICATION......................................................................... 6
1.1 CAN .............................................................................................................................................. 6
1.1.1 Data Frame ............................................................................................................................................. 6
1.1.2 Remote Frame ....................................................................................................................................... 6
1.1.3 Access to the Network ........................................................................................................................ 6
1.1.4 Error Control .......................................................................................................................................... 6
1.1.5 CAN and CANopen .............................................................................................................................. 6
1.2 CANOPEN NETWORK CHARACTERISTICS ............................................................................................ 7
1.3 PHYSICAL MEDIUM .......................................................................................................................... 7
1.4 ADDRESS IN THE CANOPEN NETWORK.............................................................................................. 7
1.5 ACCESS TO THE DATA ....................................................................................................................... 7
1.6 DATA TRANSMISSION....................................................................................................................... 7
1.7 COMMUNICATION OBJECTS - COB ................................................................................................... 8
1.8 COB-ID......................................................................................................................................... 8
1.9 EDS FILE ........................................................................................................................................ 9
2OPTIONAL KITS................................................................................................................................................... 10
2.1 CAN INTERFACES .......................................................................................................................... 10
2.1.1 CAN-01 Kit ............................................................................................................................................ 10
2.1.2 CAN/RS485-01 Kit .............................................................................................................................. 10
2.1.3 Connector Pinout ................................................................................................................................10
2.1.4 Power Supply ....................................................................................................................................... 10
2.1.5 Termination Resistor ......................................................................................................................... 11
2.1.6 Baud Rate .............................................................................................................................................. 11
2.1.7 Connection of the Inverter in the CAN Network ..................................................................... 11
3INVERTER PROGRAMMING............................................................................................................................. 13
3.1 SYMBOLS FOR THE PROPRIETIES DESCRIPTION .................................................................................. 13
P0105 –1ST/2ND RAMP SELECTION ........................................................................................................ 13
P0220 –LOCAL/REMOTE SELECTION SOURCE ............................................................................................ 13
P0221 –SPEED REFERENCE SELECTION –LOCAL SITUATION........................................................................ 13
P0222 –SPEED REFERENCE SELECTION –REMOTE SITUATION ..................................................................... 13
P0223 –SELECTION OF THE ROTATION DIRECTION -LOCAL SITUATION....................................................... 13
P0224 –START/STOP SELECTION –LOCAL SITUATION ............................................................................... 13
P0225 –JOG SELECTION -LOCAL SITUATION ........................................................................................... 13
P0226 –SELECTION OF THE ROTATION DIRECTION -REMOTE SITUATION .................................................... 13
P0227 –START/STOP SELECTION –REMOTE SITUATION ............................................................................. 13
P0228 –JOG SELECTION -REMOTE SITUATION ......................................................................................... 13
P0313 –COMMUNICATION ERROR ACTION............................................................................................... 13
P0680 –LOGICAL STATUS ....................................................................................................................... 14
P0681 –MOTOR SPEED IN 13 BITS .......................................................................................................... 15
P0684 –CANOPEN/DEVICENET CONTROL WORD..................................................................................... 16
P0685 –CANOPEN/DEVICENET SPEED REFERENCE ................................................................................... 17
P0695 –DIGITAL OUTPUT SETTING.......................................................................................................... 17
P0696 –ANALOG OUTPUT VALUE 1........................................................................................................ 18
P0697 –ANALOG OUTPUT VALUE 2........................................................................................................ 18
P0698 –ANALOG OUTPUT VALUE 3........................................................................................................ 18
P0699 –ANALOG OUTPUT VALUE 4........................................................................................................ 18
P0700 –CAN PROTOCOL........................................................................................................................ 19
P0701 –CAN ADDRESS .......................................................................................................................... 19
P0702 –CAN BAUD RATE....................................................................................................................... 19
P0703 – BUS OFF RESET.......................................................................................................................... 20
P0705 –CAN CONTROLLER STATUS......................................................................................................... 20

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P0706 –RECEIVED CAN TELEGRAM COUNTER........................................................................................... 21
P0707 –TRANSMITTED CAN TELEGRAM COUNTER .................................................................................... 21
P0708 –BUS OFF ERROR COUNTER.......................................................................................................... 21
P0709 –LOST CAN MESSAGE COUNTER .................................................................................................. 21
P0721 –CANOPEN COMMUNICATION STATUS ......................................................................................... 22
P0722 –CANOPEN NODE STATUS........................................................................................................... 22
4OBJECT DICTIONARY......................................................................................................................................... 23
4.1 DICTIONARY STRUCTURE................................................................................................................. 23
4.2 DATA TYPE .................................................................................................................................... 23
4.2.1 Basic Types ........................................................................................................................................... 23
4.2.2 Compound Types ................................................................................................................................24
4.2.3 Extended Types ................................................................................................................................... 24
4.3 COMMUNICATION PROFILE –COMMUNICATION OBJECTS.................................................................. 24
4.4 MANUFACTURER SPECIFIC – CFW-11 SPECIFIC OBJECTS ................................................................... 25
4.5 DEVICE PROFILE – COMMON OBJECTS FOR DRIVES........................................................................ 26
5COMMUNICATION OBJECTS DESCRIPTION............................................................................................... 27
5.1 IDENTIFICATION OBJECTS ............................................................................................................... 27
5.1.1 1000h Object – Device Type ........................................................................................................... 27
5.1.2 1001h Object – Error Register ....................................................................................................... 27
5.1.3 1018h Object – Identity Object ...................................................................................................... 28
5.2 SERVICE DATA OBJECTS – SDOS .................................................................................................... 28
5.2.1 1200h Object – SDO Server ............................................................................................................ 29
5.2.2 SDOs Operation .................................................................................................................................. 29
5.3 PROCESS DATA OBJECTS – PDOS................................................................................................... 30
5.3.1 Mappable Objects for the PDOs ................................................................................................... 31
5.3.2 Receive PDOs ....................................................................................................................................... 32
5.3.3 Transmit PDOs ..................................................................................................................................... 34
5.4 EMERGENCY OBJECT – EMCY ......................................................................................................... 37
5.5 SYNCHRONIZATION OBJECT – SYNC .............................................................................................. 38
5.6 NETWORK MANAGEMENT – NMT................................................................................................... 39
5.6.1 Slave State Control ............................................................................................................................ 39
5.6.2 Error Control – Node Guarding ..................................................................................................... 40
5.6.3 Error Control – Heartbeat ................................................................................................................ 41
5.7 INITIALIZATION PROCEDURE ........................................................................................................... 43
6DESCRIPTION OF THE OBJECTS FOR DRIVES............................................................................................ 45
6.1 DEVICE CONTROL –OBJECTS FOR CONTROLLING THE DRIVE.............................................................. 46
6.1.1 6040h Object– Controlword ............................................................................................................ 47
6.1.2 6041h Object– Statusword .............................................................................................................. 48
6.1.3 6060h Object– Modes of Operation ............................................................................................ 49
6.1.4 6061h Object– Modes of Operation Display ............................................................................ 49
6.2 VELOCITY MODE –OBJECTS FOR CONTROLLING THE DRIVE ............................................................... 49
6.2.1 Control and State Bits ....................................................................................................................... 50
6.2.2 6042h Object– vl target velocity ................................................................................................... 50
6.2.3 6043h Object– vl velocity demand ............................................................................................... 50
6.2.4 6044h Object– vl control effort ...................................................................................................... 50
6.2.5 6046h Object– vl velocity min max amount ............................................................................. 51
6.2.6 6048h Object– vl velocity acceleration ....................................................................................... 51
6.2.7 6049h Object– vl velocity deceleration ...................................................................................... 52
POSITION CONTROL FUNCTION –OBJECTS FOR POSITION CONTROL ............................................................. 52
6063h Object– Position actual value* ......................................................................................................... 52
7FAULTS AND ALARMS RELATED TO THE CANOPEN COMMUNICATION ......................................... 54
A133/F233 –CAN INTERFACE WITHOUT POWER SUPPLY.......................................................................... 54
A134/F234 – BUS OFF ........................................................................................................................... 54
A135/F235 –CANOPEN COMMUNICATION ERROR .................................................................................. 54

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About this Manual
This manual provides the necessary information for the operation of the CFW-11 frequency inverter using the
CANopen protocol. This manual must be used together with the CFW-11 user manual.
Abbreviations and Definitions
CAN Controller Area Network
CiA CAN in Automation
COB Communication Object
COB-ID Communication Object Identifier
SDO Service Data Object
PDO Process Data Object
RPDO Receive PDO
TPDO Transmit PDO
NMT Network Management Object
ro Read only
rw Read/write
Numerical Representation
Decimal numbers are represented by means of digits without suffix. Hexadecimal numbers are represented with the
letter ‘h’ after the number.
Documents
The CANopen protocol for the CFW-11 was developed based on the following specifications and documents:
Document Version
Source
CAN Specification 2.0 CiA
CiA DS 301
CANopen Application Layer and Communication Profile
4.02 CiA
CiA DRP 303-1
Cabling and Connector Pinout
1.1.1 CiA
CiA DSP 306
Electronic Data Sheet Specification for CANopen
1.1 CiA
CiA DSP 402
Device Profile Drives and Motion Control
2.0 CiA
In order to obtain this documentation, the organization that maintains, publishes and updates the information
regarding the CANopen network, CiA, must be consulted.

1Introduction to the CANopen Communication
In order to operate the CFW-11 frequency inverter in a CANopen network, it is necessary to know how the
communication is performed. Therefore, this section brings a general description of the CANopen protocol
operation, containing the functions used by the CFW-11. For a detailed description of the protocol, refer to the
CANopen documentation indicated in the previous section.
1.1 CAN
CANopen is a network based on CAN, which means it uses CAN telegrams to exchange data in the network.
CAN is a serial communication protocol that describes the layer 2 services (data link layer)1of the ISO/OSI model.
In this layer are defined the different types of telegrams (frames), the error detection form, the validation and
arbitration of messages.
1.1.1 Data Frame
In a CAN network data is transmitted by means of a data frame. This frame is composed mainly by an 11 bit2
identifier field (
arbitration field ), and a data field that may contain up to 8 data bytes.
Identifier 8 data bytes
11 bits byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
1.1.2 Remote Frame
Besides the data frame, there is also the remote frame (RTR frame). This type of frame does not have data field, only
identifier. It works as a request, so that another network device transmits the desired data frame.
1.1.3 Access to the Network
In a CAN network any element may try to transmit a telegram in a certain instant. If two elements try to access the
network simultaneously, the one that sends the message with the highest priority will be able to transmit. The
message priority is defined by the CAN frame identifier, the less the value of that identifier, the higher the message
priority. The telegram with an identifier 0(zero) is the one with the highest priority.
1.1.4 Error Control
The CAN specification defines several error control mechanisms, which makes it a very reliable network and with a
very low rate of undetected transmission errors. Each device in the network must be able to identify the occurrence
of those errors and to inform the other elements that an error was detected.
A CAN network device has internal counters that are incremented every time a transmission or reception error is
detected, and decremented when a telegram is sent or received with success. If a considerable amount of errors
occurs, the device can be taken to the following conditions:
; Warning : when this counter exceeds a certain limit, the device enters the warning state, meaning the
occurrence of a high error rate.
;
Error Passive : when this value exceeds a higher limit, the device enters the error passive state, then it stops
acting in the network when detecting that another device sent a telegram with error.
;
Bus Off : to conclude, there is the bus off state, in which the device will no longer send or receive telegrams.
1.1.5 CAN and CANopen
Only the definitions on how to detect errors and to create and transmit a frame, are not sufficient to define a
meaning for the data that is sent through the network. There must be a specification that indicates how the identifier
and the data must be assembled and how the information must be exchanged. In this way the elements of the
1In the CAN protocol specification the ISO 11898 standard is referred as the definition of the layer 1 (physical layer) of this model.
2The CAN 2.0 specification defines two types of data frames:
standard (11 bits) and extended (29 bits). For the CFW-11 CANopen protocol,
only
standard frames are accepted.

network can interpret correctly the transmitted data. In this sense, the CANopen specification defines exactly how to
exchange data among the equipments, and how each device must interpret these data.
There are several other protocols based on CAN, as DeviceNet, J1939, etc., which also use CAN frames for the
communication. Those protocols however cannot co-operate in the same network.
1.2 CANopen Network Characteristics
Because of using a CAN bus as telegram transmission means, all the CANopen network devices have the same
right to access the network, where the identifier priority is responsible for solving conflict problems when
simultaneous access occurs. This brings the benefit of making direct communication between slaves of the network
possible, besides the fact that data can be made available in a more optimized manner without the need of a
master that controls all the communication performing cyclic access to all the network devices for data updating.
Another important characteristic is the use of the producer/consumer model for data transmission. This means that
a message that transits in the network does not have a fixed network address as a destination. This message has an
identifier that indicates what data it is transporting. Any element of the network that needs to use that information
for its operation logic will be able to consume it, therefore, one message can be used by several network elements
at the same time.
1.3 Physical Medium
The physical medium for signal transmission in a CANopen network is specified by the ISO 11898 standard. It
defines as transmission bus a pair of twisted wires with differential electrical signal.
The CFW-11 frequency inverter uses an interface isolated from the network. The power supply for the CANopen
interface is shared with the digital and analog inputs and outputs present on the CFW-11 control board. The
component responsible for the transmission and reception of the signals is denominated transceiver, which complies
with the specified by the ISO 11898.
1.4 Address in the CANopen Network
Every CANopen network must have a master responsible for network management services, and it can also have a
set of up to 127 slaves. Each network device can also be called node. Each slave is identified in a CANopen
network by its address or Node-ID, which must be unique for each slave and may range from 1 to 127.
The CFW-11 does not have functions for implementing the network management services; therefore, it must be
used together with some equipment that has such services, generally a CANopen network master.
1.5 Access to the Data
Each slave of the CANopen network has a list called object dictionary that contains all the data accessible via
network. Each object of this list is identified with an index, which is used during the equipment configuration as well
as during message exchanges. This index is used to identify the object being transmitted.
A more detailed description on how the dictionary is structured is presented on section 6.
1.6 Data Transmission
The transmission of numerical data via CANopen telegrams is done using a hexadecimal representation of the
number, and sending the least significant data byte first.
E.g.: The transmission of a 32 bit integer with sign (12345678h = 305419896 decimal), plus a 16 bit integer with
sign (FF00h = -256 decimal), in a CAN frame.
Identifier 6 data bytes
32 bit integer 16 bit integer
byte 0 byte 1 byte 2 byte 3 byte 4 byte 5
11 bits
78h 56h 34h 12h 00h FFh

1.7 Communication Objects - COB
There is a specific set of objects that are responsible for the communication among the network devices. Those
objects are divided according to the type of data and the way they are sent or received by a device. The CFW-11
supports the following communication objects (COB):
Table 1.1 - Types of Communication Objects (COB)
Type of object Description
Service Data Object
(SDO)
SDO are objects responsible for the direct access to the object dictionary of a device. By means of messages using SDO, it
is possible to indicate explicitly (by the object index) what data is being handled. There are two SDO types: Client SDO,
responsible for doing a read or write request to a network device, and the Server SDO, responsible for taking care of that
request. Since SDO are usually used for the configuration of a network node, they have less priority than other types of
message. Only a Server SDO is available for the CFW-11.
Process Data Object
(PDO)
PDO are used for accessing equipment data without the need of indicating explicitly which dictionary object is being
accessed. Therefore, it is necessary to configure previously which data the PDO will be transmitting (data mapping). There
are also two types of PDO: Receive PDO and Transmit PDO. They are usually utilized for transmission and reception of
data used in the device operation, and for that reason they have higher priority than the SDO.
Emergency Object
(EMCY)
This object is responsible for sending messages to indicate the occurrence of errors in the device. When an error occurs in a
specific device (EMCY producer), it can send a message to the network. In the case that any network device be monitoring
that message (EMCY consumer), it can be programmed so that an action be taken (disabling the other devices, error reset,
etc.). The CFW-11 has only the EMCY producer functionality.
Synchronization Object
(SYNC)
In the CANopen network, it is possible to program a device (SYNC producer) to send periodically a synchronization
message for all the network devices. Those devices (SYNC consumers) will then be able, for instance, to send a certain
datum that needs to be made available periodically. The CFW-11 has the SYNC consumer function.
Network Management
(NMT)
Every CANopen network needs a master that controls the other devices (slaves) in the network. This master will be
responsible for a set of services that control the slave communications and their state in the CANopen network. The slaves
are responsible for receiving the commands sent by the master and for executing the requested actions. The CFW-11
operates as a CANopen network slave and makes available two types of service that the master can use: device control
service, with which the master controls the state of each network slave, and error control service (Node Guarding), with
which the slave sends periodic messages to the master informing that the connection is active.
All the communication of the inverter with the network is performed using those objects, and the data that can be
accessed are the existent in the device object dictionary. The working description of each COB is presented in
section 7.
1.8 COB-ID
A telegram of the CANopen network is always transmitted by a communication object (COB). Every COB has an
identifier that indicates the type of data that is being transported. This identifier, called COB-ID has an 11 bit size,
and it is transmitted in the identifier field of a CAN telegram. It can be subdivided in two parts:
Function Code Node Address
bit 10 bit 9 bit 8 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0
;Function Code: indicates the type of object that is being transmitted.
;Node Address: indicates with which network device the telegram is linked.
A table with the standard values for the different communication objects available in the CFW-11 is presented next.
Notice that the standard value of the object depends on the slave address, with the exception of the COB-ID for
NMT and SYNC, which are common for all the network elements. Those values can also be changed during the
device configuration stage.
Table 1.2 - COB-ID for the different objects
COB Function code
(bits 10 – 7)
Resultant COB-ID
(function + address)
NMT 0000 0
SYNC 0001 128 (80h)
EMCY 0001 129 – 255 (81h – FFh)
PDO1 (tx) 0011 385 – 511 (181h – 1FFh)
PDO1 (rx) 0100 513 – 639 (201h – 27Fh)
PDO2 (tx) 0101 641 – 767 (281h – 2FFh)
PDO2 (rx) 0110 769 – 895 (301h – 37Fh)
PDO3 (tx) 0111 897 – 1023 (381h – 3FFh)
PDO3 (rx) 1000 1025 – 1151 (401h – 47Fh)
PDO4 (tx) 1001 1153 – 1279 (481h – 4FFh)
PDO4 (rx) 1010 1281 – 1407 (501h – 57Fh)
SDO (tx) 1011 1409 – 1535 (581h – 5FFh)
SDO (rx) 1100 1537 – 1663 (601h – 67Fh)
Node Guarding/Heartbeat 1110 1793 – 1919 (701h – 77Fh)

1.9 EDS File
Each device in a CANopen network has an EDS configuration file that contains information about the operation of
the device in the CANopen network, as well as the description of all the communication objects available. In
general, this file is used by a master or by the configuration software for programming of devices present in the
CANopen Network.
The EDS configuration file for the CFW-11 is supplied together with the product, and it can also be obtained from
the website http://www.weg.net. It is necessary to observe the inverter software version, in order to use an EDS file
that be compatible with that version.

2Optional Kits
In order to make the CANopen communication possible with the CFW-11 frequency inverter, it is necessary to use
one of the CAN communication kits described next. Information on the installation of the module in the inverter can
be obtained in the guide that comes with the kit.
2.1 CAN Interfaces
2.1.1 CAN-01 Kit
;WEG part number: 10051961.
;Composed by the CAN communication module (drawing at the
left), mounting instructions and fixing screw.
;The interface is electrically isolated and with differential signal,
which grants more robustness against electromagnetic interference.
;External 24V power supply.
;It allows the connection of up to 32 devices to the same segment.
More devices can be connected by using repeaters3.
;A maximum bus length of 1000 meters.
2.1.2 CAN/RS485-01 Kit
;WEG part number: 10051960.
;Composed by the CAN/RS485-01 communication module
(drawing at the left), mounting instruction and fixing screw.
;It has the same characteristics of the CAN-01 interface, plus an
RS485 interface, for applications where the operation with both
interfaces is necessary.
2.1.3 Connector Pinout
The CAN communication module presents a 5 wire plug-in connector (XC5) with the following pinout:
Table 2.1 - CAN interface (XC5) connector pinout
Pin Name Function
1 V- Power supply negative pole.
2 CAN_L CAN_L communication signal.
3 Shield Cable shield
4 CAN_H CAN_H communication signal.
5 V+ Power supply positive pole.
2.1.4 Power Supply
The CFW-11 CAN interface needs an external power supply between pins 1 and 5 of the network connector. In
order to avoid problems of voltage difference among the devices, it is recommended that the network be fed at only
one point, and that the supply be taken to all the devices through the cable. If more than one power supply is
necessary, they must be referenced to the same point. The data for individual consumption and the input voltage
are presented in the next table.
3The maximum number of devices that can be connected to the network depends also on the used protocol.