Atv32 Canopen Manual en S1a28699 01
Atv32 Canopen Manual en S1a28699 01
www.schneider-electric.com
The information provided in this documentation contains general descriptions and/or technical characteristics
of the performance of the products contained herein. This documentation is not intended as a substitute for
and is not to be used for determining suitability or reliability of these products for specific user applications. It
is the duty of any such user or integrator to perform the appropriate and complete risk analysis, evaluation and
testing of the products with respect to the relevant specific application or use thereof. Neither Schneider
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publication, please notify us.
No part of this document may be reproduced in any form or by any means, electronic or mechanical, including
photocopying, without express written permission of Schneider Electric.
All pertinent state, regional, and local safety regulations must be observed when installing and using this
product. For reasons of safety and to help ensure compliance with documented system data, only the
manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant instructions must be
followed.
Failure to use Schneider Electric software or approved software with our hardware products may result in
injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 2010 Schneider Electric. All rights reserved.
2 S1A28699 03/2010
Table of Contents
Table of Contents
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Chapter 1 ATV32 CANopen Features Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Hardware Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
CANopen Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Communication and Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Chapter 2 Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Definition of a Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Functional Profiles Supported by the Altivar 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Chapter 3 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
CANopen Base Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
CANopen Communication Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Chapter 4 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Configuring the Communication Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Configuring the Control Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Configuring Monitor Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Configuring Communication Interruption Management . . . . . . . . . . . . . . . . . . . . . . . . 27
Chapter 5 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Communication Diagnostics Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Communication Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Control-Signal Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Monitoring of Communication Channels. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Chapter 6 CiA®402 - IEC61800-7 Functional Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
CiA402 State Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Description of States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Control Word (CMd) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Stop Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Assigning Control Word Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Status Word (EtA). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Starting Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Sequence for a Drive Powered by the Power Section Line Supply . . . . . . . . . . . . . . . 46
Sequence for a Drive With Separate Control Section . . . . . . . . . . . . . . . . . . . . . . . . . 48
Sequence for a Drive with Line Contactor Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Chapter 7 Software Setup (CANopen Services) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Communication Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
PDO (Process Data Objects) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
SDO (Service Data Objects). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Other Available Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Description of Identifiers Taken into Account . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
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Table of Contents
4 S1A28702 03/10
Safety Information
Safety Information
Important Information
NOTICE
Read these instructions carefully, and look at the equipment to become familiar with the device before trying
to install, operate, or maintain it. The following special messages may appear throughout this documentation
or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a
procedure.
The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard
exists, which will result in personal injury if the instructions are not followed.
This is the safety alert symbol. It is used to alert you to potential personal injury hazards. Obey all
safety message that follow this symbol to avoid possible injury or death.
DANGER
DANGER indicates an imminently hazardous situation, which, if not avoided, will result in death or serious
injury.
WARNING
WARNING indicates a potentially hazardous situation, which, if not avoided, can result in death, serious
injury or equipment damage.
CAUTION
CAUTION indicates a potentially hazardous situation, which, if not avoided, can result in injury or equipment
damage.
CAUTION
CAUTION, used without the safety alert symbol, indicates a potentially hazardous situation which, if not
avoided, can result in equipment damage.
PLEASE NOTE
The word “drive” as used in this manual refers to the controller portion of the adjustable speed drive as defined
by NEC.
Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. No
responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material.
S1A28699 03/2010 5
About the Book
At a Glance
Document Scope
The purpose of this document is to:
• show you how to install the CANopen fieldbus on your Altivar 32,
• show you how to configure the Altivar 32 to use CANopen for monitoring and control,
• provide examples of setup using SoMachine and Unity.
NOTE: Read and understand this document and all related documents (see below) before installing,
operating, or maintaining your ATV32.
Validity Note
This documentation is valid for the Altivar 32 CANopen fieldbus.
Related Documents
Title of Documentation Reference Number
ATV32 Quick Start S1A41715
ATV32 Installation manual S1A28686
ATV32 Programming manual S1A28692
ATV32 Modbus manual S1A28698
ATV32 Communication Parameters S1A44568
ATV32 Atex manual S1A45605
ATV32 Safety manual S1A45606
ATV32 other option manuals: see www.schneider-electric.com
You can download the latest versions of these technical publications and other technical information from our
website at www.schneider-electric.com.
DANGER
UNINTENDED EQUIPMENT OPERATION
• Read and understand this manual before installing or operating the Altivar 32 drive.
• Any changes made to the parameter settings must be performed by qualified personnel.
Failure to follow these instructions will result in death or serious injury.
6 S1A28699 03/2010
About the Book
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
• Read and understand this manual before installing or operating the Altivar 32 drive. Installation,
adjustment, repair, and maintenance must be performed by qualified personnel.
• The user is responsible for compliance with all international and national electrical code requirements with
respect to grounding of all equipment.
• Many parts of this drive, including the printed circuit boards, operate at the line voltage. DO NOT TOUCH.
Use only electrically insulated tools.
• DO NOT touch unshielded components or terminal strip screw connections with voltage present.
• DO NOT short across terminals PA/+ and PC/– or across the DC bus capacitors.
• Before servicing the drive:
- Disconnect all power, including external control power that may be present.
- Place a “DO NOT TURN ON” label on all power disconnects.
- Lock all power disconnects in the open position.
- WAIT 15 MINUTES to allow the DC bus capacitors to discharge.
- Measure the voltage of the DC bus between the PA/+ and PC/– terminals to ensure that the voltage is
less than 42 Vdc.
- If the DC bus capacitors do not discharge completely, contact your local Schneider Electric
representative. Do not repair or operate the drive
• Install and close all covers before applying power or starting and stopping the drive.
Failure to follow these instructions will result in death or serious injury.
WARNING
DAMAGE DRIVE EQUIPMENT
Do not operate or install any drive or drive accessory that appears damaged.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
WARNING
LOSS OF CONTROL
• The designer of any control scheme must
- consider the potential failure modes of control paths and,
- for certain critical control functions, provide a means to achieve a safe state during and after a path
failure.
Examples of critical control functions are emergency stop and overtravel stop.
• Separate or redundant control paths must be provided for critical control functions.
• System control paths may include communication links. Consideration must be given to the implications
of unanticipated transmission delays or failures of the link.(1)
Failure to follow these instructions can result in death, serious injury, or equipment damage.
(1) For additional information, refer to NEMA ICS 1.1 (latest edition), “Safety Guidelines for the Application, Installation, and
Maintenance of Solid State Control” and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and Guide
for Selection, Installation and Operation of Adjustable-Speed Drive Systems.”
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ATV32 CANopen Features Overview
8 S1A28699 03/2010
ATV32 CANopen Features Overview
Hardware Presentation
CANopen Profile
S1A28699 03/2010 9
ATV32 CANopen Features Overview
Cyclical Communication
• PDO1 is dedicated to the control of the drive, according to CiA402.
• PDO2 extends the communication capabilities.
• PDO3 is intended for use with the Communication scanner.
PDO1 and PDO3 provides scan cycle optimization (synchronized with drive task) which allows short reaction
time application (<10ms). See “Optimizing the Response Time” on page 57.
Acyclic Services
The ATV32 manages a SDO server, characterized by two identifiers:
• One for requests
• One for responses
Segmented transfer is supported.
EDS File
The EDS file for the ATV32 can be downloaded on www.schneider-electric.com
10 S1A28699 03/2010
Profiles
Profiles
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Profiles
Definition of a Profile
Communication Profiles
A communication profile describes the characteristics of the bus or network:
• Cables
• Connectors
• Electrical characteristics
• Access protocol
• Addressing system
• Periodic exchange service
• Messaging service
• ...
A communication profile is unique to a type of network (Modbus CIP, Profibus DP, etc.) and is used by various
different types of device.
Functional Profiles
A functional profile describes the behavior of a type of device. It defines:
• Functions
• Parameters (name, format, unit, type, etc.)
• Periodic I/O variables
• State chart(s)
• ...
A functional profile is common to all members of a device family (variable speed drives, encoders, I/O
modules, displays, etc.).
They can feature common or similar parts. The standardized (IEC 61800-7) functional profiles of variable
speed drives are:
• CiA402
• PROFIDRIVE
• CIP
DRIVECOM has been available since 1991.
CiA402 “Device profile for drives and motion control” represents the next stage of this standard’s development
and is now part of the IEC 61800-7 standard.
Some protocols also support the ODVA (Open DeviceNet Vendor Association) profile.
Application Profiles
Application profiles define in their entirety the services to be provided by the devices on a machine. For
example, “CiA DSP 417-2 V 1.01 part 2: CANopen application profile for lift control systems - virtual device
definitions”.
Interchangeability
The aim of communication and functional profiles is to achieve interchangeability of the devices connected via
the network.
12 S1A28699 03/2010
Profiles
I/O Profile
Using the I/O profile simplifies PLC programming.
The I/O profile mirrors the use of the terminal strip for control by utilizing 1 bit to control a function.
With an Altivar 32, the I/O profile can also be used when controlling via a network.
The drive starts up as soon as the run command is sent.
15 bits of the control word (bits 1 to 15) can be assigned to a specific function.
This profile can be developed for simultaneous control of the drive via:
• The terminals
• The Modbus control word
• The CANopen control word
• The network module control word
The I/O profile is supported by the drive itself and therefore in turn by all the communication ports (integrated
Modbus, CANopen, Ethernet, Profibus DP, DeviceNet communication modules).
CiA402 Profile
The drive only starts up following a command sequence.
The control word is standardized.
5 bits of the control word (bits 11 to 15) can be assigned to a function.
The CiA402 profile is supported by the drive itself and therefore in turn by all the communication ports
(integrated Modbus, CANopen, Ethernet, Profibus DP, DeviceNet communication modules).
The Altivar 32 supports the CiA402 profile’s “Velocity mode”.
In the CiA402 profile, there are two modes that are specific to the Altivar 32 and characterize command and
reference management:
• Separate mode [Separate] (SEP)
• Not separate mode [Not separ.] (SIM)
See “CiA®402 - IEC61800-7 Functional Profile” on page 37.
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Hardware Setup
Hardware Setup
14 S1A28699 03/2010
Hardware Setup
NOTE: This CANopen connection shares the same connector with Modbus base serial port.
NOTE: The CANopen signals on the base port are desactivated if an option card is plugged in the drive.
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Hardware Setup
Introduction
3 CANopen opto-isolated modules exist for the ATV32, they offer convenient and optimized wiring solution for
CANopen networks:
• VW3 A3 608: Dual RJ45 module.
• VW3 A3 618: Legacy CANopen connection with SubD9.
• VW3 A3 628: Open style 5 poles connector.
NOTE: Maximum bus length are divided by 2 whith the CANopen Daisy chain VW3 A3 608. See “Maximum
Length Bus with SubD9 CANopen Connectors” on page 21.
The following table describes the pin out of each RJ45:
Pin RJ45 Signal
1 CAN_H
2 CAN_L
3 CAN_GND
4 Not connected
5 Not connected
6 Not connected
7 Not connected
8 Not connected
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Hardware Setup
The following table describes the pin out of the SubD9 connector (male):
Pin SubD Signal
1 Reserved
2 CAN_L
3 CAN_GND
4 Reserved
5 CAN_SHLD
6 GND
7 CAN_H
8 Reserved
9 Reserved
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Hardware Setup
The following table describes the pin out of the open style connector:
Pin Signal
1 CAN_GND
2 CAN L bus line
3 CAN shield
4 CAN H bus line
5 Reserved
CAUTION
RISK OF DAMAGE TO THE DRIVE
Install only communication modules designed for ATV32. See references in the catalog.
Failure to follow these instructions can result in equipment damage.
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
Read and understand the precautions in “About the Book” on page 6 before performing the procedure in this
section.
Failure to follow these instructions will result in death or serious injury.
18 S1A28699 03/2010
Hardware Setup
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Hardware Setup
20 S1A28699 03/2010
Hardware Setup
Electrical Installation
The maximum bus length depends on the selected baud rate. The table below shows the maximum
recommended overall length of the CAN bus in the case of cables with SubD9 connectors.
The reference potential CAN_0V and the shield connection (connector housing) are galvanically isolated.
• Keep the galvanic isolation in order to avoid ground loops via the CAN bus.
• Use equipotential bonding conductors.
• Use pre-assembled cables to reduce wiring errors.
• Verify that wiring, cables and connected interfaces meet the PELV requirements.
Terminating Resistors
Both ends of a CAN bus line must be terminated. A 120 Ohm terminating resistor between CAN_L and CAN_H
is used for this purpose. According to the CANopen several solutions are available.
The following table describes the CANopen accessories for the different bus termination:
Bus termination Accessories
CANopen RJ45 module VW3 A3 608 CANopen terminating resistor, TCSCAR013M120
120 Ohm, integrated in RJ45 connector
CANopen Open style module VW3 A3 628 CANopen terminating resistor, TCSCAR01NM120
120 Ohm, for terminal screw terminal
CANopen SubD9 module VW3 A3 618 CANopen connector, SubD9 (female), with TSXCANKCDF180T
switchable terminating resistor, straight
CANopen cable, 1 m, SubD9 (female) with VW3M3805R01
integrated terminating resistor to RJ45
CANopen cable, 3 m, SubD9 (female) with VW3M3805R030
integrated terminating resistor to RJ45
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Configuration
Configuration
22 S1A28699 03/2010
Configuration
The configuration of the CANopen communication functions on the Altivar is accessed via the
[CONFIGURATION] (COnF) menu, [FULL] (FULL), [COMMUNICATION] (COM-) and
[CANopen] (CnO-) submenu, on the graphic display terminal or integrated display terminal.
NOTE: the configuration can only be modified when the motor is stopped and the drive stopped.
In order for modifications to take effect, the drive must be shut down then restarted.
The [CANopen address] (AdCO) parameter will thereafter be referred to as “Node-ID” in the present
communication manual.
The default value (OFF) of this parameter disables the CANopen communications of the Altivar.
In order to enable CANopen on the Altivar 32, you must set a non-zero value for
[CANopen address] (AdCO).
The value of the [CANopen bit rate] (bdCO) parameter must match the communication speed of all the
other devices connected to the CANopen bus. In addition, the maximum length of the bus depends on the
communication speed.
The drive must be restarted in order to take into account the CANopen parameters.
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Configuration
This chapter explains through 3 examples how to configure the drive for operation from communication
network:
• I/O Mode - a simple command Word (based on Forward, reverse and reset binary commands).
• Combined Mode (with native profile CiA402) - Both reference and command word come from the
communication network.
• Separate (with native profile CiA402) - Reference and command come from separate sources: for example,
the command (in CiA402) comes from the communication network and the reference from the HMI.
PDO’s Configuration
See “Detailed Description of Services” on page 76.
Reset
Run reverse
Run forward
24 S1A28699 03/2010
Configuration
Configuration of the Drive for Operation With CiA402 Profile in Combined Mode
This chapter describes how to configure the settings of the drive if it is controlled in CiA402 Mode. The example
focuses on the Not separate mode (Combined). Additional modes such separate Mode are detailed in the
ATV32 Programming manual.
• [Profile] (CHCF): defines if the drives operates in combined mode (reference and command from the
same channel)
For the current example, CHCF will be adjusted to SIM, as reference and control are originated from the
communication network.
Profile Ref.1 channel setting
CiA402 Combined mode [Not separ.] (SIM) (factory setting)
Configuration of the Drive for Operation with CiA402 Profile in Separate Mode
Alternate combinations are possible, see the ATV32 programming manual for the list of possible settings.
Example:
Speed
reference
Control Word
The drive is controlled from the communication (1 of the 3 following settings MDB, CAN or NET) but the
reference is adjusted on the HMI. The control word comes from the controller and is written according to
CiA402 profile.
The impacted settings will be as follows (and other settings are not modified):
CANopen communication adapter CANopen base port on ATV32
[Ref.1 channel] (Fr1) [AI virtual 1] (AIU1) [AI virtual 1] (AIU1)
[Profile] (CHCF) [Separate] (SEp) [Separate] (SEp)
[Cmd switching] (CCS) Default Default
[Cmd channel 1] (Cd1) [Com. card] (nEt) [CANopen] (CAn)
S1A28699 03/2010 25
Configuration
It is possible to select up to 4 parameters to display their values in the [1.2 MONITORING] menu on the graphic
display terminal (to be ordered separately - reference VW3 A1 101).
The selection is made via the [3. INTERFACE] / [3.3 MONITORING CONFIG.] menu ([COM. MAP CONFIG.]
submenu).
Each parameter in the range [Word 1 add. select.] ... [Word 4 add. select.] can be used to select the
parameter logic address. An address at zero is used to disable the function.
Example
In the example given here, the monitored words are:
• Parameter 1 = Motor current (LCR): logic address 3204, signed decimal format.
• Parameter 2 = Motor torque (OTR): logic address 3205, signed decimal format.
• Parameter 3 = Last detected fault occurred (LFT): logic address 7121, hexadecimal format.
• Disabled parameter: 0; default format: Hexadecimal format
RDY CAN +0.00Hz 0A
COM. MAP CONFIG.
Address 1 select : 3204
FORMAT 1 : Signed
Address 2 select : 3205
FORMAT 2 : Signed
Address 3 select : 7121
Code Quick
FORMAT 3 : Hex
Address 4 select : 0
FORMAT 4 : Hex
One of the three display formats below can be assigned to each monitored word:
Format Range Terminal display
Hexadecimal 0000 ... FFFF [Hex]
Signed decimal -32 767 ... 32 767 [Signed]
Unsigned decimal 0 ... 65 535 [Unsigned]
26 S1A28699 03/2010
Configuration
The response of the drive in the event of a CANopen communication interruption can be configured.
It can be configured via the graphic display terminal or the integrated display terminal, from the
[FAULT MANAGEMENT] (FLt-) menu, [COM. FAULT MANAGEMENT] (CLL-) submenu, via the
[CANopen fault mgt] (COL) parameter.
Code Quick
The values of the [CANopen fault mgt] (COL) parameter, which trigger a drive detected fault
[CANopen com.] (COF), are:
Value Meaning
[Freewheel] (YES) Freewheel stop (factory setting)
[Ramp stop] (rMP) Stop on ramp
[Fast stop] (FSt) Fast stop
[DC injection] (dCI) DC injection stop
The values of the [CANopen fault mgt] (COL) parameter, which do not trigger a drive detected fault, are:
Value Meaning
[Ignore] (nO) Detected fault ignored
[Per STT] (Stt) Stop according to configuration of [Type of stop] (Stt)
[fallback speed] (LFF) Change to fallback speed, maintained as long as the detected fault persists and the run
command has not been removed
[Spd maint.] (rLS) The drive maintains the speed at the time the detected fault occurred, as long as the
detected fault persists and the run command has not been removed
WARNING
LOSS OF CONTROL
If CANopen fault management [Unld. Thr. 0. Speed.] (COL) is set to [Ignore] (nO), communication
control will be inhibited.
For safety reasons, inhibiting the communication interruption detection should be restricted to the debug
phase or to special applications.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
S1A28699 03/2010 27
Diagnostics
Diagnostics
28 S1A28699 03/2010
Diagnostics
Status LEDs
CANopen activity LEDs (CAN ERR and CAN RUN) are located on the HMI of the ATV32:.
Detected error reported by the CANopen controller of the Altivar 32 (example: too
many detected error frames)
The LED is ON
S1A28699 03/2010 29
Diagnostics
A properly operating fieldbus is essential for evaluating operating and detected faults messages.
Communication Interruptions
CANopen communication interruptions are displayed by [Past fault 1] (dP1) indicator of the integrated
display terminal or graphic display terminal or by Emergency object (EMCY), described in “Emergency Object
(EMCY)” on page 82.
In factory settings, a CANopen communication interruption triggers a resettable drive detected fault
[CANopen com.] (COF) and a freewheel stop.
The response of the drive in the event of a CANopen communication interruption can be changed.
• Drive fault [CANopen com.] (COF) (freewheel stop, stop on ramp, fast stop or DC injection stop).
• No drive detected fault (stop, maintain, fallback).
In the event of a [CANopen com.] (COF), the drive sends an EMCY message to the CANopen master, see
“Emergency Object (EMCY)” on page 82.
The Diagnostics and Troubleshooting are described in the programming manual:
• After initialisation (power up), the drive checks that at least one of the command or target parameters has
been written once via CANopen.
• Then, if a CANopen communication interruption occurs, the drive reacts according to the configuration
(stop, maintain, fallback...).
The source of this detected fault is displayed on the terminal: [MONITORING] (SUP-) menu,
[COMMUNICATION MAP] (CMM-) submenu, [CANopen MAP] (CnM-) submenu,
[Error code] (ErCO) parameter.
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Diagnostics
Communication Diagnostics
On the display terminal, the [1.2 - MONITORING] (MOn-) menu ([COMMUNICATION MAP] (CMM-)
submenu, [CANopen MAP] (CnM-) submenu) can be used to display the communication status on
CANopen.
LED Display
[RUN LED] LED (“OFF”, “Stopped”, “Pre-operational” or “Operational” state of the CANopen controller)
[ERR LED] LED (CANopen error)
These LEDS are equivalent to the “CAN RUN” and “CAN ERR” LEDs on the 7-segment integrated terminal
(where supplied together with the drive).
The display on the screen opposite indicates that the CANopen controller is in the “Operational” state
([RUN LED] LED permanently lit) and that the controller has not detected any errors present ([ERR LED] not
lit).
RUN CAN +50.00Hz 80A
CANopen MAP
RUN LED : indicates a LED, which is not lit.
ERR LED :
indicates a LED, which is lit.
PDO1 IMAGE :
PDO2 IMAGE :
PDO3 IMAGE :
Code Quick
Canopen NMT state : Operational
Number of TX PDO : 2438
Number of RX PDO : 2438
Error code 0
RX Error Counter 0
TX Error Counter 0
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Diagnostics
Counters
The [RX Error Counter] (rEC1) parameter (logic address 6059, CANopen index/subindex 16#201E/3C)
counts the number of frames received with errors for all types of frame (PDO, SDO, etc.).
The [TX Error Counter] (tEC1) parameter (logic address 6058, CANopen index 16#201E/3B) counts the
number of frames transmitted with errors for all types of frame (PDO, SDO, etc.).
These types of error can be caused, for example, by network load problems or the short-circuiting of electrical
signals on the bus.
The maximum count value supported by these two counters is 65 535.
NOTE: In each of these screens and for each PDO transmitted or received, only the [Transmit PDO•-•] or
[Received PDO•-•] words actually transmitted and received on the CANopen bus are displayed.
This means, for example, that for a receive PDO2 containing only 4 data bytes (i.e., RP21 and RP22), the fields
[Received PDO2-3] and [Received PDO2-4] will not be displayed.
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Diagnostics
Control-Signal Diagnostics
On the terminal, the [1.2 - MONITORING] (MOn-) menu ([COMMUNICATION MAP] (CMM-) submenu)
can be used to display control-signal diagnostic information between the Altivar drive and the CANopen
master:
• Active command channel [Command channel] (CMdC)
• Value of the control word (CMD) from the active command channel [Cmd value] (CMd)
• Active target channel [Active ref. channel] (rFCC)
• Value of the target from the active target channel [Frequency ref.] (FrH)
• Value of the status word [ETA state word] (EtA)
• Values of the four parameters selected by the user (W---)
• The [COM. SCANNER INPUT MAP] submenu: is NOT necessary for CANopen
• The [COM SCAN OUTPUT MAP] submenu: is NOT necessary for CANopen
• In the [CMD. WORD IMAGE] submenu: control words from all channels
• In the [FREQ. REF. WORD MAP] submenu: frequency targets produced by all channels
Example
Example of the display of communication diagnostic information:
RUN CAN +50.00Hz 80A
COMMUNICATION MAP
Command Channel : CANopen
Cmd value : 000FHex
Active ref. channel : CANopen
Frequency ref. : 500.0Hz
ETA state word : 8627Hex
Code Quick
W3204 : 73
W3205 : 725
W7132 : 0000Hex
W0 : -----
COM. SCANNER INPUT MAP
COM SCAN OUTPUT MAP
CMD. WORD IMAGE
FREQ. REF. WORD MAP
MODBUS NETWORK DIAG
MODBUS HMI DIAG
CANopen MAP
PROG. CARD SCANNER
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Diagnostics
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Diagnostics
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Diagnostics
If a communication alarm occurs on a channel that is not being monitored, the drive will not trigger a
communication interruption.
Example:
A drive in DSP402 profile is connected to an active communication channel.
It is mandatory to write at least one time the reference and the command in order to switch from "4-Switched
on" to "5-Operation enabled" state.
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CiA®402 - IEC61800-7 Functional Profile
Functional Description
Drive operation involves two main functions, which are illustrated in the diagrams below:
CiA402
The main parameters are shown with their CiA402 name and their CiA402/Drivecom index (the values in
brackets are the CANopen addresses of the parameter).
Control diagram:
Statemachine
Controlword Statusword
(6040) (6041)
vl_target_velocity vl_velocity_
(6042) demand(6043)
Altivar 32
These diagrams translate as follows for the Altivar system:
Control diagram:
Statemachine
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CiA®402 - IEC61800-7 Functional Profile
Fault
Fault disappeared
and faults reset
CMD=16#0080
Fault
Switch on disabled
or
Disable voltage
CMD=16#0000
or Disable
STOP key voltage
or CMD=16#0000 Disable
Shutdown If Quick stop option code
freewheel stop at or voltage
CMD=16#0006 = 2:
Quick stop CMD=16#0000
the terminals
CMD=16#0002 or transition after stop.
or
or Quick stop If Quick stop option code
STO (Safe
STOP key CMD=16#0002 = 6:
Torque Off)
or Disable voltage
STOP key CMD=16#0000
or or
Ready to switch on freewheel stop STOP key
at the terminals or
or freewheel stop at
modification terminals
of a configuration
parameter
or
Switch on Shutdown
CMD=16#0007 CMD=16#0006
Shutdown Switched on
CMD=16#0006
Disable
Switch on Enable operation
CMD=16#xxxF operation CMD=16#xxxF
CMD=16#xxxF or
fast stop
Examples:
ETA=16#0637: Stop or forward, speed reached
ETA=16#8637: Stop or reverse, speed reached
ETA=16#0237: Forward, accelerating or decelerating
ETA=16#8237: Reverse, accelerating or decelerating
Value of
Key: State
status word
Power
Switched on absent
Power
present
Enable
operation Power absent
CMD=16#xxxF or present
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CiA®402 - IEC61800-7 Functional Profile
Description of States
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CiA®402 - IEC61800-7 Functional Profile
Summary
State Power section line supply for Power supplied to motor Modification of configuration
separate control section parameters
1 - Not ready to switch on Not required No Yes
2 - Switch on disabled Not required No Yes
3 - Ready to switch on Not required No Yes
4 - Switched on Required No Yes, return to
“2 - Switch on disabled” state
5 - Operation enabled Required Yes, apart from an open-loop drive No
with a zero reference or in the
event of a “Halt” command for an
open-loop drive.
6 - Quick stop active Required Yes, during fast stop No
7 - Fault reaction active Depends on detected fault Depends on detected fault -
management configuration management configuration
8 - Fault Not required No Yes
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CiA®402 - IEC61800-7 Functional Profile
Command Transition Final state bit 7 bit 3 bit 2 bit 1 bit 0 Example
address Fault reset Enable Quick stop Enable Switch on value
operation voltage
Shutdown 2, 6, 8 3 - Ready to x x 1 1 0 16#0006
switch on
Switch on 3 4 - Switched x x 1 1 1 16#0007
on
Enable 4 5 - Operation x 1 1 1 1 16#000F
operation enabled
Disable 5 4 - Switched x 0 1 1 1 16#0007
operation on
Disable 7, 9, 10, 12 2 - Switch on x x x 0 x 16#0000
voltage disabled
Quick stop 11 6 - Quick stop x x 0 1 x 16#0002
active
7, 10 2 - Switch on
disabled
Fault reset 15 2 - Switch on 0V1 x x x x 16#0080
disabled
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Stop Commands
The “Halt” command enables movement to be interrupted without having to leave the “5 - Operation enabled”
state. The stop is performed in accordance with the [Type of stop] (Stt) parameter.
In the case of an open-loop drive, if the “Halt” command is active, no power is supplied to the motor and no
torque is applied.
Regardless of the assignment of the [Type of stop] (Stt) parameter ([Fast stop assign] (FSt),
[Ramp stop] (rMP), [Freewheel] (nSt), or [DC injection assign.] (dCI)), the drive remains in the “5 -
Operation enabled” state.
A Fast Stop command at the terminals or using a bit of the control word assigned to Fast Stop causes a change
to the “4 - Switched on” state. A “Halt” command does not cause this transition.
A Freewheel Stop command at the terminals or using a bit of the control word assigned to Freewheel Stop
causes a change to the “2 - Switch on disabled” state. A “Halt” command does not cause this transition.
In the CiA402 profile, fixed assignment of a function input is possible using the following codes:
Bit CANopen
bit 11 C211
bit 12 C212
bit 13 C213
bit 14 C214
bit 15 C215
For example, to assign the DC injection braking to bit 13 of CANopen, simply configure the
[DC injection assign.] (dCI) parameter with the [C213] (C213) value.
Bit 11 is assigned by default to the operating direction command [Reverse assign.] (rrS).
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CiA®402 - IEC61800-7 Functional Profile
(1) This mask can be used by the PLC program to test the chart state.
(2) Detected fault following state “6 - Quick stop active”.
x: In this state, the value of the bit can be 0 or 1.
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Starting Sequence
The command sequence in the state chart depends on how power is being supplied to the drive.
There are three possible scenarios:
Control section
Control section
power supply
power supply
supply
supply
supply
Power section line Direct Direct Line contactor controlled by the drive
supply
Control section Not separate (1) Separate Separate
power supply
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CiA®402 - IEC61800-7 Functional Profile
Both the power and control sections are powered by the power section line supply.
If power is supplied to the control section, it has to be supplied to the power section as well.
The following sequence must be applied:
Step 1
Send the “2 - Shutdown” command
Not ready to
switch on
Fault
Bus or network
Switch on
disabled
Shutdown Switched on
Enable Disable
operation operation
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Step 2
• Check that the drive is in the “3 - Ready to switch on” state.
• Then send the “4 - Enable operation” command.
• The motor can be controlled (send a reference not equal to zero).
Not ready to
switch on
Fault
Bus or network
Switch on
disabled
Shutdown Switched on
Enable Disable
operation operation
Operation Quick stop
enabled Quick stop active
NOTE: It is possible, but not necessary, to send the “3 - Switch on” command followed by the “4 - Enable
Operation” command to switch successively into the states “3 - Ready to Switch on”, “4 - Switched on” and
then “5 - Operation Enabled”.
The “4 - Enable operation” command is sufficient.
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CiA®402 - IEC61800-7 Functional Profile
Step 1
• The power section line supply is not necessarily present.
• Send the “2 - Shutdown” command
Power section
power supply
line supply
Not ready to
switch on
Fault
Bus or network
Switch on
disabled
Shutdown Switched on
Enable Disable
operaton operation
Operation Quick stop
enabled Quick stop
active
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Step 2
• Check that the drive is in the “3 - Ready to switch on” state.
• Check that the power section line supply is present (“Voltage enabled” of the status word).
Power section
power supply
line supply
Not ready to
switch on
Fault
Bus or network
Switch on
disabled
Shutdown Switched on
Enable Disable
operation operation
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CiA®402 - IEC61800-7 Functional Profile
Step 3
• Check that the drive is in the “4 - Switched on” state.
• Then send the “4 - Enable operation” command.
• The motor can be controlled (send a reference not equal to zero).
• If the power section line supply is still not present in the “4 - Switched on” state after a time delay
[Mains V. time out] (LCt), the drive will switch to detected fault mode [input contactor] (LCF).
Power section
power supply
line supply
Not ready to
switch on
Fault
Bus or network
Switch on
disabled
Shutdown Switched on
Enable Disable
operation operation
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Step 1
• The power section line supply is not present as the line contactor is not being controlled.
• Send the “2 - Shutdown” command
Fault reaction
Power section
line supply
active
Not ready to
switch on
Fault
Bus or network
Switch on
disabled
Shutdown Switched on
Enable Disable
operation operation
Operation Quick stop
enabled active
Quick stop
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CiA®402 - IEC61800-7 Functional Profile
Step 2
• Check that the drive is in the “3 - Ready to switch on” state.
• Send the “3 - Switch on” command, which will close the line contactor and switch on the power section line
supply.
Fault reaction
Power section
power supply
active
Not ready to
switch on
Fault
Bus or network
Switch on
disabled
Shutdown Switched on
Enable Disable
operation operation
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Software Setup (CANopen Services)
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Software Setup (CANopen Services)
Communication Profile
For more detailed information, visit the Can In Automation website at: http://www.can-cia.org.
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Software Setup (CANopen Services)
PDO telegrams are used to exchange periodic I/O data between the PLC and the drive.
The Altivar 32 has 3 predefined PDO sets:
• PDO1 is in accordance with the CiA402 specification: velocity mode,
• PDO2 is fully configurable by the user. By default, this PDO is disabled,
• PDO3 is linked to the communication scanner. By default, this PDO is disabled.
PDO1 Details
The first PDO is by default compliant with the PDO 1 of the Velocity Mode of the CiA402. It is asynchronous
and contains two data: the control word (6040h / ATV32 CMD) and the target velocity (6042h / ATV32 LFRD)
for the input (from PLC to device) and the status word (6041h / ATV32 ETA) and the control effort (6044h /
ATV32 RFRD) for the output (from device to PLC).
PDO detailed properties:
• The COB-Id of the transmit and receive PDO1 is fully configurable.
• The transmission type of the receive and transmit PDO are fully configurable.
• The mapping of the receive and transmit PDO are fully configurable.
PDO2 Details
The second PDO set (PDO2) is deactivated by default and can be configured in full (1 to 4 words of the user's
choice). It is reserved for adjustments and for additional control and monitoring functions. By default, TPD02
(transmit) and RPD02 (receive) are disabled and not configured.
PDO3 Details
The third PDO set (PDO3) is reserved. Deactivated by default, it cannot be configured and comprises:
• RPDO3 (receive), containing 4 input words of the communication scanner NC1 to NC4
• TPDO3 (transmit), containing 4 output words of the communication scanner NM1 to NM4
RPDO1, TPDO1, RPDO2, TPDO2, RPDO3, and TPDO3 can each be enabled or disabled independently.
Each PDO can be activated or deactivated using bit 31 of its COB-ID. Set this bit to 1 to deactivate the PDO.
Reset it to zero to activate the PDO. By default, these three PDO are asynchronous, although the transmission
mode of each PDO can be reconfigured by the user in accordance with requirements:
• Asynchronous mode (255): The transmit PDO is only sent when the value of its data changes. In this mode,
the “inhibit time” and “event timer” (example: objects 16#1800/03 and 16#1800/05 for TPD01) can be
modified in order to adjust the PDO transmission frequency on the bus.
• Cyclic synchronous mode (1…240): the transmit PDO is sent each time a synchronization object (SYNC)
is received or when a preconfigured number of synchronization objects (between 1 and 240) are received.
• Acyclic synchronous mode (0): the transmit PDO is sent each time the value of its data changes, but only
during the synchronous “window” authorized by the next synchronization object (SYNC, not available for
the receive PDO).
The drive optimizes the size of the TPDO frames (transmit); only useful data bytes are transmitted.
The length of PDO3 is 8 data bytes.
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Software Setup (CANopen Services)
NOTE: See “PDO3” on page 90 for more information of the PDO3’s configuration.
Fast Tasks
Only these parameters are available for fast tasks:
Fast read Parameters
ETA, RFR, FRH, LCR, OTR, ETI, ULN, UOP, THD, OPR, THR1, THR2, THR3, IL1I, IL1R,
OL1R, AI1C, AI2C, AI3C, AO1R, AO1C, RFRD, FRHD, LRS1, LRS2, LRS3, LRS4, LRS5,
LRS6, LRS7, LRS8, M001, M002, M003, M004, M005, M006, M007, M008
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Software Setup (CANopen Services)
The identifiers will be referred to as COB-IDs (Communication OBject IDentifiers) in the rest of this
communication manual
Direction Identifier (COB-ID) Description
Master V Drive 000 Service Network ManagemenT (NMT)
16#000
Master V Drive 128 SYNChronization service (SYNC)
16#080
Master V Drive 128 + Node-ID EMergenCY service (EMCY)
16#080
Master X Drive 384 + Node-ID Drive monitoring (TPDO1)
16#180
Master V Drive 512 + Node-ID Drive control (RPDO1)
16#200
Master X Drive 640 + Node-ID Drive periodic input words (TPDO2)
16#280
Master V Drive 768 + Node-ID Drive periodic output words (RPDO2)
16#300
Master X Drive 896 + Node-ID Periodic input words on the Altivar’s communication scanner
16#380 (TPDO3)
Master V Drive 1024 + Node-ID Periodic output words on the Altivar’s communication scanner
16#400 (RPDO3)
Master X Drive 1408 + Node-ID Response to a drive setting (transmit SDO)
16#580
Master V Drive 1536 + Node-ID Drive setting request (receive SDO)
16#600
Master V Drive 1792 + Node-ID Network management (NMT, Node Guard, Heartbeat)
Master X Drive 16#700 Network management (Bootup)
The Altivar supports the automatic assignment of identifiers (COB-IDs), based on its CANopen address.
The term “master” designates a device transmitting a request to a variable speed drive (example: a PLC).
Bit 31 of PDO COB-ID entry, coded on 32 bits, is equal to 1 for TPDO2, RPDO2, TPDO3, and RPDO3, as they
are inactive by default.
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Introduction
This chapter describes how to integrate an ATV32 in a unity project and to control it from a M340 PLC.
Example of configuration:
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Drive Configuration
Factory Setting
Before configuring the drive, it’s strongly advised to make a factory setting. Goto to:
• [1.3 CONFIGURATION] (COnF) menu,
• [FACTORY SETTINGS] (FCS-) sub-menu.
Then configure the following parameters:
• [PARAMETER GROUP LIST] (FrY-) = [ALL] (ALL),
• [Goto FACTORY SETTINGS] (GFS) = enter.
Command Configuration
To control the drive with a CANopen Master, it is necessary to select CANopen as command channel active.
Goto to:
• [1.3 CONFIGURATION] (COnF),
• [FULL] (FULL),
• [COMMAND] (CtL-) menu
And then configure: [Ref. 1 channel] (Fr1) parameter to [CANopen] (CAn) value.
Communication Configuration
Select the CANopen address in the menu:
• [1.3 CONFIGURATION] (COnF)
• [FULL] (FULL)
• [COMMUNICATION] (COM-) menu
• [CANopen] (CnO-)
And then configure:
• [CANopen address] (AdCO) parameter to [1] (1) value,
• [Baud Rate] (BdCO) parameter to [500 kbps] (500).
The drive must be restarted in order to take into account the CANopen address.
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If your Unity Software doesn't contain the ATV32 in the CANopen catalog. You must add the EDS file to the
hardware Catalog Manager installed with Unity, or use the ATV32_XXX.cpx file provided as example with the
ATV32 EDS file. The cpx file is an export from an existing catalog and doesn't need any configuration in the
Hardware catalog manager.
In the file menu, select Import User devices to load the .cpx file.
A file dialog box will ask you to select the file and its location on your PC.
Once imported, you should see the ATV32 in the Motion & drive section. The two topics “default“ and
“PDOsonly” are used in the CANopen device configuration screen of Unity to select which objects are mapped
and linked to an application variable.
• Default: all the objects described in the EDS will have reserved memory in the PLC application.
• PDOs only: Only the TPDO and RPDO objects are mapped in PLC memory. (The current example will use
this “function”).
Your Hardware catalog manager is now updated and contains the ATV32. If you import only the EDS file you
will have only the default choice. You must create new functions in the Hardware catalog manager if you need
several choices.
NOTE: Don't remove an existing device from the hardware catalog manager unless you are sure that this
device is not used in an existing Unity project: You will not be able to re open this project.
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Software Setup With Unity (M340)
From the project browser open the CANopen configuration tool by double clicking the CANopen drop:
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Then double click on the device and select in the “function” drop menu PDOs only:
In the example above, we select only TPDO1 and RPDO1 which provides the basic control command of the
drive with the CiA402 velocity mode profile.
PDOs are linked to the %Mw variables, The mapping is automatically generated by Unity according to the
index defined in the master configuration panel and to the PDOs and to the slave Node ID.
Status Word (object 6041) %MW304
Control effort (Object 6044) %MW305
Control Word (Object 6040) %MW1304
Target velocity (Object 6041) %MW1305
You can now build the project and start the PLC to check the cyclic exchanges with an animation table:
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In the example below The drive state machine is managed from a control block (written in a DFB).This control
block is linked to an animation screen which reproduces a basic Motor control. For more detail on the Drive
state machine please refer to “CiA®402 - IEC61800-7 Functional Profile” on page 37.
The objects of the animation screen are used as input and output parameters of the control Block. The Block
is called cyclically in a SR part of the Mast task. The variables used as parameters in the following control block
call are used in the previous animated table.
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Software Setup With Unity (M340)
DFB code:
(* state machine basic management *)
MaskedStatus:= Status_in and 16#000f;
(* Shutdown *)
if (MaskedStatus=0) and (Status_in <> 6) then ControlWord:=6;
end_if;
(* Switch ON *)
If (MaskedStatus=1) and (Status_in <> 7) then ControlWord:=7;
end_if;
(* START *)
If ((MaskedStatus=3) and (Status_in <> 15))and Start then ControlWord:=15;
end_if;
(* STOP *)
If ((MaskedStatus=7) and (Status_in <> 7))and Stop then ControlWord:=7;
end_if;
(* reset control *)
ControlWord.7 := Reset;
DFB interface
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Software Setup With SoMachine (M238)
9
What's in this Chapter?
This chapter contains the following topics:
Topic Page
Introduction 70
Drive Configuration 71
CANopen Master Configuration 72
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Software Setup With SoMachine (M238)
Introduction
Here is an example of an application that shows how to control an ATV32 with a M238 PLC equipped with a
CANopen master port. The operator can control the drive directly from SoMachine.
In the example, the PDO1 of the ATV32 is used. The PLC will send the command and the speed reference to
the ATV32 and will read the status word and the actual speed of the drive.
PLC: TM238LFDC24DT
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Drive Configuration
Factory Setting
Before configuring the drive, it’s strongly advised to make a factory setting. Goto to:
• [1.3 CONFIGURATION] (COnF) menu,
• [FACTORY SETTINGS] (FCS-) sub-menu.
Then configure the following parameters:
• [PARAMETER GROUP LIST] (FrY-) = [ALL] (ALL),
• [Goto FACTORY SETTINGS] (GFS) = enter.
Command Configuration
To control the drive with a CANopen Master, it is necessary to select CANopen as command channel active.
Goto to:
• [1.3 CONFIGURATION] (COnF),
• [FULL] (FULL),
• [COMMAND] (CtL-) menu.
And then configure: [Ref. 1 channel] (Fr1) parameter to [CANopen] (CAn) value.
Communication Configuration
Select the CANopen address in the menu:
• [1.3 CONFIGURATION] (COnF),
• [FULL] (FULL),
• [COMMUNICATION] (COM-) menu,
• [CANopen] (CnO-).
And then configure:
• [CANopen address] (AdCO) parameter to [2] (2) value,
• [Baud Rate] (BdCO) parameter to [125 kbps] (125).
The drive must be restarted in order to take into account the CANopen address.
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Software Setup With SoMachine (M238)
Add Device
Make a right click on CANopen and select Add Device.
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Find where is located the EDS file on your hard disk and select it. The EDS file can be downloaded from our
web site (www.schneider-electric.com).
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Data Exchange
In the window CANopen I/O Mapping tick Always update variables. In this example, we use the first PDO.
PDO1 contains two data (default setting):
- Control word (CMDD) and target velocity (LFRD) for the input and
- Status word (ETAD) and control effort (RFRD) for the output.
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Detailed Description of Services
10
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Detailed Description of Services
Network Management
NMT Commands
Master C Drive
COB-ID Byte 0 Byte 1
0 Command specifier (CS) Node-ID(1)
(16#000)
(1) If Node-ID = 0, the “command specifier” is broadcast to all CANopen slaves (including the Altivar). Each slave must then
execute this NMT command, thereby completing the corresponding transition (see below). Check that your CANopen
slaves support broadcast communication on COB-ID 0, which the Altivar does
Example
Transition to pre-operational state (Enter_Pre-Operational_State = 16#80) of the Altivar located at CANopen
address 4 (16#04).
16#000 16#80 16#04
(2)
(11)
(14)
Pre-operational
CS = 128
CS = 128 (7) (10) (9)
(5)
(13) (3) (4)
CS = 2
Stopped
(6)
CS = 1 CS = 1 CS = 2
(12)
(8)
Operational
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Transition Description
(1) On power-up, the node automatically changes to the initialization state
(2) Once initialization is complete, the pre-operational state is activated automatically
(3), (6) Start_Remote_Node
(4), (7) Enter_Pre-Operational_State
(5), (8) Stop_Remote_Node
(9), (10), (11) Reset_Node
(12), (13), (14) Reset_Communication
Depending on the communication status of the drive, the following services are available:
Initialization Pre-operational Operational Stopped
PDO X
SDO X X
Synchronization (SYNC) X X
Emergency (EMCY) X X
Bootup service X X
Network management (NMT) X X X
In pre-Operational mode, the master can only perform SDO. In operational mode, the master can perform SDO
and PDO.
In Stop mode, the master can't perform SDO and PDO (it's impossible to start the drive).
In operational mode, the device can be controlled only if the user has selected CANopen as the command
channel.
In the event of a resettable detected fault, the drive must be in the “Operational” NMT state in order that the
PDO carrying the control word CMD (receive PDO1, preferably) can reset the drive using the CMD “reset fault”
bit. Then, the CANopen “master” will have to set the drive to the “Operational” state using an NMT telegram,
with CS - 1 (Start_Remote_Node) and Node-ID = drive node address.
(2)
(11)
(14)
Pre-operational
CS = 128
CS = 128 (7) (10) (9)
(5)
(13) (3) (4)
CS = 2
Stopped
(6)
CS = 1 CS = 1 CS = 2
(12)
(8)
Operational
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Transition Description
(4) Enter_Pre-Operational_State
(5), (8) Stop_Remote_Node
(9), (10), (11) Reset_Node
(12), (13), (14) Reset_Communication
These transitions suppress a service, which can be used to control the drive. A detected fault is triggered in
order to avoid losing control of the drive (only if the drive is running).
Transition Service lost
(4) PDO
(5) SDO
(8), (9), (10), (11), (12), (13), (14) PDO and SDO
Boot Up Service
This protocol is used to signal that a NMT slave has entered the node state Pre-Operational after the state
Initialization. The protocol uses the same identifier as the detected error control protocols. The boot up
messages is transmitted also after reset-communication, reset-application and recovering from power-off.
The only data byte sent in a Bootup frame is equal to 16#00.
Master B Drive
COB-ID Byte 0
1792 16#00
(16#700)
+Node-ID
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Either the Node Guarding service described here or the Heartbeat service described below can be used for
communication monitoring. Only one of these two services can be active at any one time. The Node Guarding
service is deactivated by default on the Altivar.
Master C Drive
The master scans the drive at regular intervals (“Life Time”) by sending “remote transmit requests” (RTR). The
“Life Time” is calculated by multiplying the “Guard Time” by the “Life Time Factor”. These two parameters are
described below.
If, once the “Life Time” has expired, the drive has not received the RTR:
• It triggers a “Life Guarding” detected fault (see “Configuring Communication Interruption Management” on
page 27),
• and sends an emergency telegram (EMCY) (See “Emergency Object (EMCY)” on page 82.).
Master B Drive
COB-ID Byte 0 = NMT information
1792 Bit 7 Bit 6-0
(16#700) Toggle bit Node State
+ Node-Id
The drive response indicates it NMT state via the “NMT information” field, described here:
Bits 6-0 (node state): Current NMT state of the drive:
• Initialization (16#00),
• Stopped (16#04),
• Operational (16#05),
• or Pre-operational (16#7F).
The [Canopen NMT state] (nMtS) parameter (16#201E/3A) can be accessed via the drive display terminal.
If the drive does not send a response or if it sends an incorrect state, the master will trigger a “Node Guarding”
event.
Bit 7 (toggle bit): The value of this bit must alternate from one drive response to the other. The value of the
toggle bit for the first response following activation of the Node Guarding service is 0. This bit can only be reset
to 0 by sending the “Reset_Communication” command to the drive. If a response is received with the same
toggle bit value as the previous response, the new response is treated as if it had not been received.
In our example, we are going to configure a Life Time of 2 seconds, with a Guard Time of 500 ms and a Life
Time Factor of 4 (500 ms × 4 = 2 s).
Setting the “Guard Time” parameter to 500 ms
• COB-ID = 16#600 + Node-ID for the write request or 16#580 + Node-ID for the write response
• Request code (byte 0) = 16#2B to write data 2 bytes in length
• Response code (byte 0) = 16#60 if the write operation has been completed without detected errors
• Object index (bytes 1 and 2) = 16#100C
• Object subindex (byte 3) = 16#00
• Request data (bytes 4 and 5) = 16#01F4 (500)
Request: Master C Drive
16#604 16#2B 16#0C 16#10 16#00 16#F4 16#01 16#00 16#00
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Heartbeat Service
If you do not activate the Node Guarding service described above, you can use the Heartbeat service to
monitoring communication with another node, provided that it supports this service.
The Heartbeat service is deactivated by default on the Altivar (the “Consumer Heartbeat Time” and “Producer
Heartbeat Time” parameters are both set to 0).
Producer C Consumer
COB-ID Byte 0
1792 Heartbeat
(16#700) Producer state
+Node-ID
Each “Heartbeat Producer” sends Heartbeat messages at regular intervals (the “Producer Heartbeat Time”
16#1017/00).
All “Heartbeat Consumers” check that they receive these messages in a time less than the “Consumer
Heartbeat Time” (16#1016/01).
The “Producer Heartbeat Time” must be less than the “Consumer Heartbeat Time”.
If the drive has been configured as a consumer and a period of time equal to the “Consumer Heartbeat Time”
elapses without a “Heartbeat message” being received, the drive will trigger a “Heartbeat” event and send an
emergency telegram (EMCY).
If CANopen is the active channel, a CANopen detected fault (COF) will be triggered.
The “Heartbeat message” sent from the drive contains a “Heartbeat Producer state” field (byte 0), described
here:
Bit 7 = Reserved: This bit is equal to 0.
Bits 6-0 = Heartbeat Producer state: Current NMT state of the drive:
• Initialization (16#00).
• Stopped (16#04).
• Operational (16#05).
• or Pre-operational (16#7F).
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Master B Drive
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
128 Fault code (Errd) Error register 0 0 0 0 0
(16#080) LSB MSB Bit 0 = 0 (no fault) - - - - -
+NODE-ID or 1 (fault)
An EMCY object is sent by the drive to other CANopen devices, with a high priority, every time a detected fault
appears (byte 2/bit 0 = 1) or disappears (byte 2/bit 0 = 0). This is the case in particular for “Heartbeat” or “Life
Guard” type detected faults. An Emergency object is never repeated.
The detected error code parameter Errd (CANopen index = 16#2038/7) is described in the table below:
EMCY detected error code (Errd) Description (accessible also in dP1 see programming manual)
16#0000 [No fault] (nOF)
16#1000 [Precharge] (CrF)
16#1000 [Motor overload] (OLF)
16#1000 [Overspeed] (SOF)
16#1000 [Diff. I fault] (dCF)
16#1000 [IGBT desaturation] (HdF)
16#1000 [internal- CPU] (InFE)
16#1000 [Ch.sw. fault] (CSF)
16#1000 [Angle error] (ASF)
16#2230 [IGBT short circuit] (SCF4)
16#2310 [Overcurrent] (OCF)
16#2311 [Proc.Overload Flt] (OLC)
16#2320 [Motor short circuit] (SCF1)
16#2320 [Motor short circuit] (SCF5)
16#2330 [Ground short circuit] (SCF3)
16#3110 [Mains overvoltage] (OSF)
16#3120 [Undervoltage] (USF)
16#3130 [Input phase loss] (PHF)
16#3310 [Overbraking] (ObF)
16#3310 [1 output phase loss] (OPF1)
16#3310 [3out ph loss] (OPF2)
16#4210 [Drive overheat] (OHF)
16#4210 [IGBT overheat] (tJF)
16#4310 [PTC fault] (OtFL)
16#5000 [Out. contact. stuck] (FCF1)
16#5000 [Out. contact. open.] (FCF2)
16#5000 [input contactor] (LCF)
16#5210 [Internal- I measure] (InF9)
16#5210 [Internal-mains circuit] (InFA)
16#5210 [Internal- th. sensor] (InFb)
16#5530 [Control Eeprom] (EEF1)
16#5530 [Power Eeprom] (EEF2)
16#6100 [Rating error] (InF1)
16#6100 [PWR Calib.] (InF2)
16#6100 [Int.serial link] (InF3)
16#6100 [Int.Mfg area] (InF4)
16#6100 [Cards pairing] (HCF)
16#6300 [Incorrect config.] (CFF)
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Detailed Description of Services
EMCY detected error code (Errd) Description (accessible also in dP1 see programming manual)
16#6300 [Invalid config.] (CFI)
16#6300 [Bad conf] (CFI2)
16#7000 [Internal-option] (InF6)
16#7110 [Brake feedback] (brF)
16#7300 [LI6=PTC probe] (PtFL)
16#7300 [AI3 4-20mA loss] (LFF3)
16#7310 [Speed fdback loss] (SPF)
16#7400 [FB fault] (FbE)
16#7400 [FB stop flt.] (FbES)
16#7510 [Modbus com.] (SLF1)
16#7510 [HMI com.] (SLF3)
16#7520 [int. com.link] (ILF)
16#7520 [Com. network] (CnF)
16#7530 [PC com.] (SLF2)
16#8100 [CAN com.] (COF)
16#9000 [External flt-LI/Bit] (EPF1)
16#9000 [External fault com.] (EPF2)
16#FF00 [Auto-tuning] (tnF)
16#FF01 [Brake control] (bLF)
16#FF02 [Torque/current lim] (SSF)
16#FF03 [Pr.Underload.Flt] (ULF)
16#FF03 [Safety fault] (SAFF)
16#FF80 [Load fault] (dLF)
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PDO1
Default Assignment
• Transmit TPDO1
Master B Drive
COB-ID Byte 0 Byte 1 Byte 2 Byte 3
384 Status word "ETA" Output speed "RFRD"
(16#180) LSB MSB LSB MSB
+Node-ID
Example: The Altivar located at CANopen address 4 (COB-ID = 16#180 + 4) is in the “Operation enabled” state
and is not faulty (status word “ETA” = 16#xxx7). In our example, the status word “ETA” is equal to 16#0607.
Furthermore, the speed of the motor is equal to 1500 rpm (16#05DC).
16#184 16#07 16#06 16#DC 16#05
• Receive RPDO1
Master C Drive
COB-ID Byte 0 Byte 1 Byte 2 Byte 3
512 Control word “CMD” Speed target “LFRD”
16#200 LSB MSB LSB MSB
+Node-ID
Example: The Altivar located at CANopen address 4 (COB-ID = 16#200 + 4) receives the command called
“Enable operation” (control word “CMD” = 16#xxxF). In our example, the control word “CMD” is equal to
16#000F.
Furthermore, the speed of the motor is equal to 1200 rpm (16#04B0).
16#204 16#0F 16#00 16#B0 16#04
Example: The Altivar located at CANopen address 4 (COB-ID = 16#180 + 4) is in the “Operation enabled” state
and is not faulty (status word “ETA” = 16#xxx7). In our example, the status word “ETA” is equal to 16#0607,
the speed of the motor is equal to 1500 rpm (16#05DC) and the motor torque is equal to 50% (500 x 0.1% =
16#01F4).
16#184 16#07 16#06 16#DC 16#05 16#F4 16#01
• Receive RPDO1
Master C Drive
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
512 Control word “CMD” Speed target “LFRD” Torque target “LTR”
(16#200) LSB MSB LSB MSB LSB MSB
+ Node-ID
Example: The Altivar located at CANopen address 4 (COB-ID = 16#200 + 4) receives the command called
“Enable operation” (control word “CMD” = 16#xxxF). In our example, the control word “CMD” is equal to
16#000F, the speed target of the motor is equal to 1200 rpm (16#04B0) and its torque target is equal to 50%
(500 x 0.1% = 16#01F4).
16#204 16#0F 16#00 16#B0 16#04 16#F4 16#01
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• Receive RPDO1
Master C Drive
COB-ID Byte 0 Byte 1
512 Control word “CMD”
(16#200) LSB MSB
+ Node-ID
User Assignment
• Transmit TPDO1
Master B Drive
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
384 Altivar variable Altivar variable Altivar variable Altivar variable
(16#180) (by default: status word (by default: output speed (by default: no (by default: no
+Node-ID “ETA”) “RFRD”) parameter) parameter)
LSB MSB LSB MSB LSB MSB LSB MSB
NOTE: Any bytes left unused at the end of this PDO will not be transmitted on the bus by the Altivar. For
example, if no parameters have been assigned to bytes 6 and 7, the data length of transmit PDO1 will be 6
bytes.
Example: The two default assignment parameters are maintained (16#6041/00 and 16#6044/00) and are
suffixed (i.e., in bytes 4 and 5) with the “Torque Actual Value” motor torque parameter (16#6077/00), thereby
producing the extended default assignment of transmit PDO1.
This extended default assignment then becomes a user assignment by means of the suffixing (i.e., in bytes 6
and 7) of the parameters of the current in the motor object “LCR” (16#2002/05), thereby producing the
following user assignment:
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
384 Status word “ETA” Output speed “RFRD” Motor torque “OTR” Current in the motor
(16#180) “LCR”
+Node-ID LSB MSB LSB MSB LSB MSB LSB MSB
Consider an Altivar located at CANopen address 4 (COB-ID = 16#180 + 4) and in the following state:
• Current state = “Operation enabled” and no detected faults (status word “ETA” = 16#xxx7). In our example,
the status word “ETA” is equal to 16#0607.
• The output speed “RFRD” is equal to 1500 rpm (16#05DC).
• The motor torque is equal to 83% (830 x 0.1% = 16#033E).
• The current in the motor “LCR” is equal to 4.0 A (16#0028).
The corresponding telegram sent for this transmit PDO is therefore as follows (8 data bytes):
16#184 16#07 16#06 16#DC 16#05 16#3E 16#03 16#28 16#00
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• Receive RPDO1
Master C Drive
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
512 Altivar variable Altivar variable Altivar variable Altivar variable
(16#200) (by default: control word (by default: speed target (by default: no (by default: no
+Node-ID “CMD”) “LFRD”) parameter) parameter)
LSB MSB LSB MSB LSB MSB LSB MSB
Example: The first default assignment object is maintained (16#6040/00) but the second is deleted
(16#6042/00), thereby producing the restricted default assignment of receive PDO1.
This restricted default assignment then becomes a user assignment by means of the suffixing of the
Acceleration ramp time “ACC”/”Acceleration” (16#203C/02) and Deceleration ramp time “DEC”/”Deceleration”
(16#203C/03) parameters in bytes 2 to 5, thereby producing the following user assignment:
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
512 Control word “CMD” Acceleration ramp time “ACC” Deceleration ramp time “DEC”
(16#200) LSB MSB LSB MSB LSB MSB
+Node-ID
Consider an Altivar located at CANopen address 4 (COB-ID = 16#200 + 4) and controlled as follows:
• “Enable operation” command (control word “CMD” = 16#xxxF). In our example, the control word “CMD” is
equal to 16#000F.
• The acceleration ramp time “ACC” is 1 s (10 = 16#000A).
• The deceleration ramp time “DEC” is 2 s (20 = 16#0014).
The corresponding telegram received for this receive PDO is therefore as follows (6 data bytes):
16#204 16#0F 16#00 16#0A 16#00 16#14 16#00
16# 0503 0000 Segmented transfer: The toggle bit has not been modified.
16# 0504 0001 “Request code” invalid or unknown
16# 0601 0000 Parameter access detected error (example: write request on “read-only” parameter)
16# 0601 0002 Attempt to execute a write request on a “read-only” parameter
16# 0602 0000 The “index” sent in the request refers to an object, which does not exist in the object dictionary
16# 0604 0041 PDO object assignment: The parameter cannot be assigned to the PDO; this detected error
occurs when writing to parameters 16#1600, 16#1601, 16#1602, 16#1A00, 16#1A01,
and16#1A02 (assignments of PDO1, 2 and 3)
16# 0604 0042 PDO object assignment: The number and/or length of the parameters to be assigned exceeds
the maximum PDO length.
16# 0609 0011 The “subindex” sent in the request does not exist
16# 0609 0030 Outside parameter value limits (for a write request only)
16# 0609 0031 Value of parameter written too high
16# 0800 0000 A general detected error has occurred
(1) Please note that the “cancellation codes” listed in this table have been written in accordance with general convention and
must, therefore, be inverted in the case of byte-by-byte representation for “bytes 4 to 7" (example: 16# 0609 0030
becomes byte 4 = 16#30, byte 5 = 16#00, byte 6 = 16#09, byte 7 = 16#06).
Example: If the speed target (rpm) is assigned in RPDO1, there is no point using an SDO to write this target.
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Detailed Description of Services
Any parameter connected to one of the parameters configured in an RPDO (receive) must not be modified
using an SDO write request.
Example: If the speed target in (rpm) is assigned in RPDO1, there is no point using an SDO to modify the
frequency target (0.1 Hz).
The value of the parameter read is equal to 1000 (16#03E8), equivalent to an “acceleration ramp time (ACC)”
of 100 s, as the unit of this parameter is “0.1 s”.
The “Request data” field indicates that the value we are trying to assign to the parameter is equal to 1000
(16#03E8), equivalent to an “acceleration ramp time (ACC)” of 100 s, as the unit of this parameter is “0.1 s”.
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PDO2
Set PDO2 on the Altivar is disabled by default (“PDO COB-ID entry” parameter = 16#80000XXX).
To enable it, use the SDO service in write mode to set bit 31 of the “PDO COB-ID entry” parameter in transmit
PDO2 (16#1801/01) and/or receive PDO2 (16#1401/01) to zero.
Unlike set PDO1, it is also possible to modify bits 0 to 6 of the COB-IDs in set PDO2 in order to authorize slave-
to-slave communication.
• Transmit TPDO2
Master B Drive
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
640 Altivar variable Altivar variable Altivar variable Altivar variable
(16#280) (by default: no (by default: no (by default: no (by default: no
+Node-ID parameter) parameter) parameter) parameter)
LSB MSB LSB MSB LSB MSB LSB MSB
NOTE: Any bytes left unused at the end of this PDO will not be transmitted on the bus by the Altivar. For
example, if no parameters have been assigned to bytes 6 and 7, the data length of transmit PDO2 will be 6
bytes.
Example: Assignment of 3 parameters: Last detected fault occurred “LFT” (16#2029/16), Current in the motor
“LCR” (16#2002/05) and Motor power “OPR” (16#2002/0C). This produces the following user assignment:
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
640 Last detected fault occurred Current in the motor “LCR” Motor power “OPR”
(16#280) “LFT”
+Node-ID LSB MSB LSB MSB LSB MSB
Consider an Altivar located at CANopen address 4 (COB-ID = 16#280 + 4) and in the following state:
• The last detected fault occurred “LFT” is “nOF”/no detected fault stored (16#0000).
• The current in the motor “LCR” is equal to 4.0 A (16#0028).
• The motor power “OPR” is equal to 50% (16#0032).
The corresponding telegram sent for this transmit PDO is therefore as follows (8 data bytes):
16#284 16#00 16#00 16#28 16#00 16#32 16#00
• Receive RPDO2
Master C Drive
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
768 Altivar variable Altivar variable Altivar variable Altivar variable
(16#300) (by default: no (by default: no (by default: no (by default: no
+Node-ID parameter) parameter) parameter) parameter)
LSB MSB LSB MSB LSB MSB LSB MSB
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Detailed Description of Services
PDO3
This PDO set is reserved for the Altivar 32 programmable card and must only be used on a drive equipped
with this card.
Set PDO3 on the Altivar is disabled by default (bit 31 of PDO COB-ID entry = 1).
To enable it, use the SDO service in write mode to set bit 31 of the “PDO COB-ID entry” parameter in transmit
PDO3 (16#1802/01) and/or receive PDO3 (16#1402/01) to zero.
Unlike set PDO2, it is also possible to modify bits 0 to 6 of the COB-IDs in set PDO3 in order to authorize slave-
to-slave communication.
Unlike the assignment of PDO1 and PDO2 objects, the assignment of PDO3 objects cannot be modified.
• Transmit TPDO3
Master B Drive
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
896 Output word of the NM1 Output word of the NM2 Output word of the NM3 Output word of the NM4
(16#380) Communication scanner Communication scanner Communication scanner Communication scanner
+Node-ID LSB MSB LSB MSB LSB MSB LSB MSB
• Receive RPDO3
Master C Drive
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
1024 Input word of the NC1 Input word of the NC2 Input word of the NC3 Input word of the NC4
(16#400) Communication scanner Communication scanner Communication scanner Communication scanner
+Node-ID LSB MSB LSB MSB LSB MSB LSB MSB
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SDO Service
The content of the “request data” and “response data” will vary depending on the “request code” and the
“response code”. The two tables below indicate the various possible scenarios:
Request Description of the command Byte 4 Byte 5 Byte 6 Byte 7
code
16#23 Write data 4 bytes in length (e.g., UNSIGNED 32) Bits 7-0 Bits 15-8 Bits 23-16 Bits 31-24
16#2B Write data 2 bytes in length (e.g., UNSIGNED 16) Bits 7-0 Bits 15-8 16#00 16#00
16#2F Write data 1 byte in length (e.g., UNSIGNED 8) Bits 7-0 16#00 16#00 16#00
16#40 Read data 1/2/4 bytes in length 16#00 16#00 16#00 16#00
16#80 Cancel current SDO command (1) 16#00 16#00 16#00 16#00
16#4B Read data: 2 bytes of data: response (1) Bits 7-0 Bits 15-8 16#00 16#00
16#4F Read data: 1 byte of data: response (1) Bits 7-0 16#00 16#00 16#00
16#60 Write data 1/2/4 bytes in length: response 16#00 16#00 16#00 16#00
16#80 Detected error sending cancellation code (2) Bits 7-0 Bits 15-8 Bits 23-16 Bits 31-24
(1) To use an SDO service reserved for reading multi-byte data, such as “manufacturer name” (parameter 16#1008: 16#00),
segmented transfer is triggered between the master and the drive.
The “request code” 16#80 is used to stop this type of transfer.
(2) The response data (bytes 4 to 7) correspond to a 32-bit “cancellation code” (a complete list of all cancellation codes
supported by the Altivar appears in the table on the next page).
NOTE: Segmented transfer can only be used for items of data larger than 4 bytes. It is only used for “Device
name” (object 16#1008) in conjunction with the Altivar.
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Object Dictionary
11
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Introduction
Index Object
16#0000 Unused
16#0001 - 16#001F Static data types
16#0020 - 16#003F Complex data types
16#0040 - 16#005F Unused (Manufacturer specific complex data types)
16#0060 - 16#007F Device profile specific static data types
16#0080 - 16#009F Device profile specific complex data types
16#00A0 - 16#0FFF Reserved for further use
16#1000 - 16#1FFF Communication profile area
16#2000 - 16#5FFF ATV32 specific profile area
16#6000 - 16#9FFF Standardised device profile area
16#A000 - 16#FFFF Reserved for further use
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Receive PDOs
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Transmit PDO
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Object Dictionary
The ATV32 parameters are based and documented with their Modbus address, however the pending
CANopen address of these parameters can be easily retrieved with the formula described below, and vice-
versa.
NOTE: In the communication parameters excel sheet you will find also both addresses (Modbus and
CANopen).
These area contains standardized parameters in conformance with CiA402 velocity mode.
Index Description
16#603F Detected error code
16#6040 Control Word
16#6041 Status Word
16#6042 Target velocity
16#6043 Velocity demand
16#6044 Control Effort
16#6046 01 Velocity min. amount
02 Velocity max amount
16#6048 Velocity acceleration
01 Delta speed
02 Delta time
16#6049 Velocity deceleration
01 Delta speed
02 Delta time
16#604b Set Point factor
01 Set Point factor numerator
02 Set Point factor denominator
16#605A Quick stop option code
16#605C Disable option code
16#6060 Modes of operation
16#6061 Modes of operation Display
16#6077 Torque actual value
16#6502 Supported drive modes
Abbreviations
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Abbreviation Definition
CAN Controller Area Network is an internally standardized serial bus system
COB Communication Object. A unit of transportation in a CAN network. Data must be sent across a CAN
Network inside a COB. There are 2048 different COB's in a CAN network. A COB can contain at most
8 bytes of data
COB-ID Each COB is uniquely identified in a CAN network by a number called the COB Identifier (COB-ID).
The COB-ID determines the priority of that COB for the MAC sub-layer
COF CANopen Detected Fault
CRC Cyclic Redundancy Check
CS Command Specifier
LLC Logical Link Control. One of the sub-layers of the Data Link Layer in the CAN Reference Model that
gives the user an interface that is independent from the underlying MAC layer
LSB Least Significant Byte
MAC Medium Access Control. One of the sub-layers of the Data Link Layer in the CAN Reference Model
that controls who gets access to the medium to send a message
MSB Most Significant Byte
NMT Network Management. One of the service elements of the application layer in the CAN Reference
Model. The NMT serves to configure, initialise, and handle detected errors in a CAN network
OSI Open Systems Interconnection
PDO Process Data Object
Remote COB A COB whose transmission can be requested by another device
RPDO Receive PDO
RTR Remote Transmit Requests
SDO Service Data Object
SYNC Synchronisation Object
TPDO Transmit PDO
ERCO Error Code
03/2010