20-COMM-K CANopen Adapter Firmware 1.
Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (Publication SGI-1.1 available from your local Rockwell Automation sales office or online at http:// www.rockwellautomation.com/literature) describes some important differences between solid state equipment and hard-wired electromechanical devices.
Summary of Changes The information below summarizes the changes made to this manual since its last release (January 2005): Description of Changes Reformatted document from half size (5.5 x 8.5 in.) to full size (8.5 x 11 in.) Added SMC Flex to compatible products list. Revised Figures 2.2 and 2.3 to show PowerFlex 700H/S Frames 9 and larger. Added ground tab details in Figure 2.3. Added “Flash Updating the Adapter” section.
soc-ii Summary of Changes 20-COMM-K CANopen Adapter User Manual Publication 20COMM-UM012B-EN-P
Table of Contents Preface About This Manual Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1 Rockwell Automation Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2 Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2 Chapter 1 Getting Started Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ii Table of Contents Chapter 6 Using Service Data Objects About Service Data Objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Running Service Data Objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CANopen DPI Parameter Access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CANopen DPI Full Parameter Access. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents iii Glossary Index 20-COMM-K CANopen Adapter User Manual Publication 20COMM-UM012B-EN-P
iv Table of Contents 20-COMM-K CANopen Adapter User Manual Publication 20COMM-UM012B-EN-P
Preface About This Manual Topic Related Documentation Rockwell Automation Support Conventions Used in This Manual Page P-1 P-2 P-2 Related Documentation For: DriveExplorer™ DriveTools™ SP (includes DriveExecutive™) PowerFlex 7-Class HIM PowerFlex® 70/70EC Drive PowerFlex® 700/700VC Drive PowerFlex® 700 Series B Drive PowerFlex® 700H Drive PowerFlex® 700S Drive (Frames 1 through 6) PowerFlex® 700S Drive (Frames 9 and higher) Refer to: http://www.ab.
P-2 About This Manual Rockwell Automation Support Rockwell Automation, Inc. offers support services worldwide, with over 75 sales/support offices, over 500 authorized distributors, and over 250 authorized systems integrators located through the United States alone. In addition, Rockwell Automation, Inc. representatives are in every major country in the world. Local Product Support Contact your local Rockwell Automation, Inc.
Chapter 1 Getting Started The adapter is intended for installation into a PowerFlex 7-Class drive and is used for network communication. The adapter can also be used with other Allen-Bradley products supporting DPI™. Topic Components Features Compatible Products Required Equipment Safety Precautions Quick Start Status Indicators Components Figure 1.
1-2 Getting Started Features The features of the adapter include: • Typical mounting in a PowerFlex 7-Class (Architecture Class) drive. • Captive screws to secure and ground the adapter to the drive. • Compatibility with various configuration tools to configure the adapter and connected drive. The tools include the PowerFlex 7-Class HIM on the drive, and drive-configuration software such as DriveExplorer (version 2.01 or higher) or DriveExecutive (version 3.01 or higher).
Getting Started Required Equipment 1-3 Equipment Shipped with the Adapter When you unpack the adapter, verify that the package includes: ❑ One adapter ❑ A 2.54 cm (1 in.) and a 15.24 cm (6 in.
1-4 Getting Started Safety Precautions Please read the following safety precautions carefully. ! ! ! ! ! ! ! ! 20-COMM-K CANopen Adapter User Manual Publication 20COMM-UM012B-EN-P ATTENTION: Risk of injury or death exists. The PowerFlex drive may contain high voltages that can cause injury or death. Remove all power from the PowerFlex drive, and then verify power has been discharged before installing or removing an adapter. ATTENTION: Risk of injury or equipment damage exists.
Getting Started Quick Start 1-5 This section is provided to help experienced users quickly start using the adapter. If you are unsure how to complete a step, refer to the referenced chapter. Step 1 2 3 4 5 6 Action Review the safety precautions for the adapter. Verify that the PowerFlex drive is properly installed. Install the adapter. Refer to… Throughout This Manual Drive User Manual PowerFlex 7-Class DPI Network Communication Adapter Verify that the PowerFlex drive is not powered.
1-6 Getting Started Status Indicators The adapter uses four status indicators to report its operating status. They can be viewed on the adapter or through the drive cover (Figure 1.2). Figure 1.2 Status Indicators (location on drive may vary) ➊ ➋ ➌ ➍ ➊ ➋ ➌ ➍ Item Name ➊ PORT ➋ ➌ ➍ MOD NET A (CAN RUN) NET B (CAN ERR) After installing the adapter and applying power to the drive, refer to Start-Up Status Indications on page 2-8 for possible start-up status indications and their descriptions.
Chapter 2 Installing the Adapter This chapter provides instructions for installing the adapter in a PowerFlex 7-Class drive. Topic Preparing for an Installation Commissioning the Adapter Connecting the Adapter to the Drive Connecting the Adapter to the Network Applying Power Page 2-1 2-1 2-4 2-7 2-8 Preparing for an Installation Before installing the adapter, verify that you have all required equipment. Refer to Required Equipment on page 1-3.
2-2 Installing the Adapter Setting the Node Address Switches Set the adapter Node Address switches (Figure 2.1) by rotating the switches to the desired value for each digit. Important: Each node on the network must have a unique address. Set the node address before power is applied because the adapter uses the node address it detects when it first receives power. To change a node address, you must set the new value and then remove and reapply power to (or reset) the adapter. Figure 2.
Installing the Adapter 2-3 Setting the Data Rate Set the adapter Data Rate switch (Figure 2.2) by rotating the switch to the desired setting. Figure 2.2 Setting Adapter Data Rate Switch 50K 125K 250K 500K 20K 10K 800K PGM Setting 10Kbps, 20Kbps, 50Kbps, 125Kbps, 250Kbps, 500Kbps, 800Kbps or 1Mbps PGM 1M Description Sets the adapter to the respective data rate. The default switch setting is 500Kbps. The adapter uses the setting of Parameter 05 - [COPN Rate Cfg] for the data rate.
2-4 Installing the Adapter Connecting the Adapter to the Drive ! ATTENTION: Risk of injury or death exists. The PowerFlex drive may contain high voltages that can cause injury or death. Remove power from the drive, and then verify power has been discharged before installing or removing the adapter. 1. Remove power from the drive. 2. Use static control precautions. 3. Remove the drive cover or open the drive door. 4.
Installing the Adapter Figure 2.3 2-5 DPI Ports and Internal Interface Cables 20-COMM-K Adapter ➊ ➋ ➌ PowerFlex 70 - All Frames ➍ PowerFlex 700 Frames 0 and 1 PowerFlex 700S Frames 0 and 1 PowerFlex 700 Frames 2 and Larger PowerFlex 700S Frames 2 through 6 HIM panel opens to allow access to DPI interface. To open panel, remove screws on left side of HIM panel and swing open. PowerFlex 700H Frames 9 and Larger PowerFlex 700S Frames 9 and Larger Item ➊ ➋ ➌ ➍ X2 X1 ➍ Description 15.24 cm (6 in.
2-6 Installing the Adapter Figure 2.4 Mounting and Grounding the Adapter Drive 0.9 N•m (8.0 lb•in) 4 Places Adapter Internal Interface Cable folded behind the adapter and in front of the drive. Ground Tab Detail PowerFlex 70 - All Frame Sizes (Adapter mounts in drive.) 0.9 N•m (8.0 lb•in) 4 Places PowerFlex 700 Frames 0 and 1 PowerFlex 700S Frames 0 and 1 (Adapter mounts on door.) Verify metal ground tab is bent 90° and is under the adapter before tightening screw.
Installing the Adapter Connecting the Adapter to the Network 2-7 ATTENTION: Risk of injury or death exists. The PowerFlex drive may contain high voltages that can cause injury or death. Remove power from the drive, and then verify power has been discharged before installing or removing the adapter. ! 1. Remove power from the network and drive. 2. Use static control precautions. 3. Connect one end of a CANopen cable to the network. A CANopen cable with an outside diameter of 6.9 mm (0.27 in.
2-8 Installing the Adapter Applying Power ! ATTENTION: Risk of equipment damage, injury, or death exists. Unpredictable operation may occur if you fail to verify that parameter settings are compatible with your application. Verify that settings are compatible with your application before applying power to the drive. 1. Install the drive cover or close the drive door. The status indicators can be viewed on the front of the drive. 2.
Installing the Adapter 2-9 Table 2.A Drive and Adapter Start-Up Status Indications Item Name Color ➊ Green STS (Status) Yellow Red ➋ PORT Green MOD Green NET A Green (CAN RUN) NET B Green (CAN ERR) (1) State (1) Description Drive STS Indicator Flashing Drive ready but not running, and no faults are present. Steady Drive running, no faults are present. Flashing, An inhibit condition exists – the drive cannot be Drive Stopped started. Check drive Parameter 214 - [Start Inhibits].
2-10 Installing the Adapter 3. Verify that drive Parameter 213 - [Speed Ref Source] is reporting that the source of the Reference to the drive is “22” (DPI Port 5). This ensures that any Reference commanded from the network can be monitored by using drive Parameter 002 - [Commanded Speed]. If a problem occurs, this verification step provides the diagnostic capability to determine whether the drive/adapter or the network is the cause.
Chapter 3 Configuring the Adapter This chapter provides instructions and information for setting the parameters to configure the adapter.
3-2 Configuring the Adapter Using the PowerFlex 7-Class If your drive has either an LED or LCD HIM (Human Interface Module), it can be used to access parameters in the adapter as shown below. It is HIM recommended that you read through the steps for your HIM before performing the sequence. For additional information, refer to your PowerFlex Drive User Manual or the PowerFlex 7-Class HIM Quick Reference (publication 20HIM-QR001). Using an LED HIM Step 1.
Configuring the Adapter Setting the Node Address 3-3 The node address is normally set by the adapter Node Address switches (Figure 2.1), and is unique to each node on the network. If both switches are set to “0,” the value of Parameter 03 - [COPN Addr Cfg] determines the node address. 1. Set the value of Parameter 03 - [COPN Addr Cfg] to a unique node address. Figure 3.1 Example COPN Node Addr Cfg LCD HIM Screen Default = 1 Port 5 Device 20-COMM-K Parameter #: 03 COPN Addr Cfg 01 1 <> 127 2.
3-4 Configuring the Adapter Setting the I/O Configuration The I/O configuration determines the data that is sent to and from the drive. Logic Command/Status, Reference/Feedback, and Datalinks may be enabled or disabled. A “1” enables the I/O. A “0” disables the I/O. 1. Set the bits in Parameter 12 - [DPI I/O Cfg]. Figure 3.
Configuring the Adapter Selecting COS, Cyclic or RTR I/O Data Exchange 3-5 The data exchange (sometimes called allocation) is the method that the adapter uses to exchange real-time data on the CANopen network. The real-time data is transferred using a PDO (Process Data Object).
3-6 Configuring the Adapter 4. Set Parameter 25 - [COS Status Mask] for the bits in the Logic Status word that should be checked for changes. The bit definitions for the Status Mask will depend on the drive to which the adapter is connected. Refer to Appendix D or the drive documentation. Figure 3.6 Example COS Status Mask LCD HIM Screen Value Description 0 Ignore this logic bit. (Default) 1 Use this logic bit. Port 5 Device 20-COMM-K Parameter #: 25 COS Status Mask xxxxxxxxxxx0 0 0 0 1 Bit 0 b00 5.
Configuring the Adapter 3-7 This cyclic data exchange is only possible for the PDO1. However, there is another possibility to implement cyclic data exchange for each PDO1: 1. Using the CANopen configuration tool, set the transmission mode of the TPDO (Transmit PDO) of the adapter to a value between “1” and “240.” 2. Using the CANopen configuration tool, set the communication cycle period to a desired value.
3-8 Configuring the Adapter Changing the Fault Action Set the values of Parameters 10 - [Comm Flt Action] and 11 - [Idle Flt Action] to the desired response: Value 0 1 2 3 4 Action Fault Stop Zero Data Hold Last Send Flt Cfg Description The drive is faulted and stopped. (Default) The drive is stopped, but not faulted. The drive is sent 0 for output data. This does not command a stop. The drive continues in its present state.
Configuring the Adapter Resetting the Adapter 3-9 Changes to switch settings and some adapter parameters require that you reset the adapter before the new settings take effect. You can reset the adapter by cycling power to the drive or by using Parameter 09 - [Reset Module]. ! ATTENTION: Risk of injury or equipment damage exists. If the adapter is transmitting control I/O to the drive, the drive may fault when you reset the adapter.
3-10 Configuring the Adapter Viewing the Adapter Status Using Parameters The following parameters provide information about the status of the adapter. You can view these parameters at any time. Parameter 04 - [COPN Addr Act] Description The node address used by the adapter. This will be one of the following values: • The address set by the rotary switches. • The value of Parameter 03 - [COPN Addr Cfg] if the switches have been set to “0.
Chapter 4 Configuring the CANopen Network This chapter provides information about configuring a CANopen network to communicate with the adapter and its connected PowerFlex 7-Class drive. To configure the CANopen network, a variety of configuration tools of CANopen Network ManagemenT (NMT) masters are available from several manufactures, which help you to manage and configure CANopen devices and systems.
4-2 Configuring the CANopen Network Figure 4.1 The NMT Slave State Machine Reset Application 10 Reset Communication Power-on 11 Initialisation 12 Pre-Operational 8 7 Stopped 6 8 6 7 Operational The numbers in Figure 4.1 correspond to the numbers within the parenthesis in the following state descriptions. Initialization State The CANopen adapter enters the Initialization state automatically after power-up and after a reset command.
Configuring the CANopen Network 4-3 Operational State All communication objects are active in the Operational state. This means there is PDO communication, SDO communication, synchronization, and error control, and emergency messages allowed. The adapter will enter the Stopped state when receiving a Stop_Remote_Node message (7). Stopped State All communications, except NMT and heartbeat for error control, are stopped when the adapter is switched into the Stopped state.
4-4 Configuring the CANopen Network CANopen Network Configuration Network Node Configuration With help of the configuration tool, set up a CANopen network with a specific baud rate. Select the required devices (for example, a PLC, input modules, output modules, and PowerFlex drives with 20-COMM-K adapters), add them to the network, and assign a unique node ID for each device. EDS File An EDS file is needed for each device on the CANopen network. Go to the Rockwell Automation web site at www.
Configuring the CANopen Network 4-5 Besides the PDO mapping to determine which data are available (mapped) in the selected PDO, the communication parameters that define the PDO communication behavior need to be set. This includes the transmission mode (synchronous or asynchronous) and the triggering mode which can be Change of State (COS), Cyclic or Remote Transmission Request (RTR). SYNC Configuration The synchronization object (SYNC) is used to synchronize the devices.
4-6 Configuring the CANopen Network Notes: 20-COMM-K CANopen Adapter User Manual Publication 20COMM-UM012B-EN-P
Chapter 5 Using I/O Messaging This chapter provides information and examples that explain how to use I/O Messaging to control a PowerFlex 7-Class drive. Topic About Process Data Objects Understanding the I/O Image Using Logic Command/Status Using Reference/Feedback Using Datalinks Transmit PDO Mapping Receive PDO Mapping ! Page 5-1 5-4 5-6 5-6 5-8 5-9 5-10 ATTENTION: Hazard of injury or equipment damage exists. The examples in this publication are intended solely for purposes of example.
5-2 Using I/O Messaging PDO Transmission Types The transmission type (or data exchange type) parameter of a PDO specifies the transmission mode and the triggering mode. The transmission modes are: • Synchronous transmission • Asynchronous transmission The adapter supports three PDO triggering modes: • COS (Change of State) • Cyclic • Remote Transmission Request (RTR) The triggering mode is only relevant for TPDOs. For RPDOs, only the transmission mode is important.
Using I/O Messaging 5-3 Synchronous RPDO: The data of synchronous RPDOs is passed to the application when the next SYNC object occurs, independently of the transmission rate specified by the transmission type. Asynchronous RPDO: The data of asynchronous RPDOs is passed directly to the application.
5-4 Using I/O Messaging Table 5.A TPDO Summary Triggering Mode COS Cyclic RTR only (1) (2) (3) Transmission Mode Synchronous Asynchronous Synchronous Synchronous Asynchronous Synchronous Asynchronous Param. 24 [PDO1 Trigger] COS COS — Cyclic Cyclic — — Transmission Type (1) (2) 0 (3) 254 (3) 1…240 0 (3) 254 (3) 252 253 Transmission Type Name Synchronous acyclic Asynchronous (Manuf. Event) Synchronous cyclic Synchronous acyclic Asynchronous (Manuf.
Using I/O Messaging 5-5 Table 5.
5-6 Using I/O Messaging Table 5.
Using I/O Messaging 5-7 (Parameter 82 / Parameter 55) * 32767 = Scaling Using parameter 82 and 55 default values, speed Reference scaling is: (60 Hz / 130 Hz) * 32767 = 15123 Therefore, 0…15123 = 0…60.0 Hz. If parameter 82 - [Maximum Speed] is changed to 90 Hz, then: (90 Hz / 130 Hz) * 32767 = 22685 Therefore, 0…22685 = 0…90.0 Hz. Par. 55 - [Maximum Freq] A graphic representation of this Reference scaling is shown below: 130 Hz 90 Hz 60 Hz aximum - [M Par.
5-8 Using I/O Messaging Using Datalinks A Datalink is a mechanism used by PowerFlex drives to transfer data to and from the controller. Datalinks allow a drive parameter value to be read or written without using an SDO explicit message. When enabled, each Datalink occupies two 16-bit or 32-bit words in both the input and output image. Use adapter Parameter 08 - [Datalink Size] to determine whether the drive uses 16-bit or 32-bit words for Datalinks.
Using I/O Messaging 5-9 Regardless of the Datalink combination, Datalink x1 Out will always contain the LSW and Datalink x2 Out will always contain the MSW. In the following example, the PowerFlex 70 drive Parameter 242 - [Power Up Marker] contains a value of 88.4541 hours. Datalink A2 Out B1 Out Word MSW LSW Parameter 242 242 Data (Hex) 000D 7F3D Conversion Example: Parameter 242 - [Power Up Marker] = 88.
5-10 Using I/O Messaging Receive PDO Mapping The Receive PDOs have a default mapping as shown in Table 5.G. The mapping can be changed if desired. Since every PDO can contain up to eight bytes of data, it is possible to map, for example, Datalink A1, A2, C1, and C2 to the same PDO number when using a drive with 16-bit Datalinks. Table 5.
Chapter 6 Using Service Data Objects This chapter provides information and examples that explain how to use Service Data Objects (SDOs) to configure and monitor the adapter and connected PowerFlex 7-Class drive. Topic About Service Data Objects Running Service Data Objects CANopen DPI Parameter Access CANopen DPI Full Parameter Access ! ! About Service Data Objects Page 6-1 6-2 6-2 6-3 ATTENTION: Risk of injury or equipment damage exists.
6-2 Using Service Data Objects Running Service Data Objects There are five basic events in the Service Data Objects process. The details of each step will vary depending on the type of controller. Refer to the documentation for your controller. Important: There must be a request message and a response message for all SDOs, whether you are reading or writing data. Figure 6.
Using Service Data Objects 6-3 CANopen DPI Parameter Access Communication Example This example describes how to read adapter Parameter 1 - [DPI Port]: 1. Fill out the data structure for CANopen object 0x2228 (DPI Parameter Send) as follows, filling in sub index 1 last. Sub Index 1 2 3 Value 0x00 (Read) 0x05 (DPI Port 5) 0x01 (Parameter) 2. Send the message by writing to sub index 1. 3. Wait for the acknowledgement. 4. Read the response in object 0x2229 (DPI Parameter Receive).
6-4 Using Service Data Objects CANopen DPI Full Access Communication Example This example describes how to read adapter Parameter 1 - [DPI Port]: 1. Fill out the data structure for CANopen object 0x2226 (DPI Object Send) as follows, filling in sub index 1 last. Sub Index 1 2 3 4 5 6 Value 0x00 (Service Get Attribute) 0x05 (DPI Port 5) 0x03 (Parameter Class) 0x0001 (Instance, Parameter 01) 0x09 (Attribute - Parameter value) 0x00 (Number of bytes that follows) 2.
Chapter 7 Troubleshooting This chapter provides information for diagnosing and troubleshooting potential problems with the adapter and network. Topic Understanding the Status Indicators PORT Status Indicator MOD Status Indicator NET A (CAN RUN) Status Indicator NET B (CAN ERR) Status Indicator Viewing Adapter Diagnostic Items Viewing and Clearing Events Understanding the Status Indicators Page 7-1 7-2 7-2 7-3 7-3 7-4 7-5 The adapter has four status indicators.
7-2 Troubleshooting PORT Status Indicator This red/green bicolor LED indicates the status of the adapter’s connection to the drive as shown in the table below. Status Off Cause The adapter is not powered or is not properly connected to the drive. Corrective Action • Securely connect the adapter to the drive using the Internal Interface (ribbon) cable. Flashing Red The adapter is not receiving a ping message from the drive. • Apply power to the drive.
Troubleshooting NET A (CAN RUN) Status Indicator 7-3 This green LED indicates the status of the network connection as shown in the table below. Status Off Cause Corrective Actions The adapter and/or network is not • Securely connect the adapter to the drive using the Internal Interface (ribbon) cable and to the network powered or the adapter is not properly using a CANopen cable. connected to the network. • Correctly connect the CANopen cable to the CANopen 9-pin plug. • Apply power to the drive.
7-4 Troubleshooting Viewing Adapter Diagnostic If you encounter unexpected communications problems, the adapter’s diagnostic items may help you or Rockwell Automation personnel troubleshoot Items the problem. Adapter diagnostic items can be viewed using an LCD PowerFlex 7-Class HIM (Diagnostics/Device Items), DriveExplorer software (version 4.01 or higher), or DriveExecutive software (version 3.01 or higher). Using the HIM to View Adapter Diagnostic Items Step 1. Access parameters in the adapter.
Troubleshooting Viewing and Clearing Events 7-5 The adapter has an event queue to record significant events that occur in the operation of the adapter. When such an event occurs, an entry is put into the event queue. You can view the event queue using an LCD PowerFlex 7-Class HIM, DriveExplorer (4.01 or higher) software, or DriveExecutive (3.01 or higher) software. The event queue can contain up to 32 entries.
7-6 Troubleshooting Events Many events in the event queue occur under normal operation. If you encounter unexpected communications problems, the events may help you or Allen-Bradley personnel troubleshoot the problem. The following events may appear in the event queue: Table 7.
Appendix A Pr e lim lim lim in in in ar ar ar y y y Specifications Appendix A presents the specifications for the adapter.
A-2 Specifications Certification UL cUL CE CTick Specification UL508C CAN / CSA C22.2 No. 14-M91 EN50178 and EN61800-3 EN61800-3 Pr e lim lim lim in in in ar ar ar y y y Regulatory Compliance Pr e Pr e NOTE: This is a product of category C2 according to IEC 61800-3. In a domestic environment this product may cause radio interference in which case supplementary mitigation measures may be required.
Appendix B Adapter Parameters Appendix B provides information about the adapter parameters. Topic About Parameter Numbers Parameter List About Parameter Numbers Page B-1 B-1 The parameters in the adapter are numbered consecutively. However, depending on which configuration tool you use, they may have different numbers. Configuration Tool • HIM • DriveExplorer • DriveExecutive Numbering Scheme The adapter parameters begin with parameter 01.
B-2 Adapter Parameters Parameter No. Name and Description 06 [COPN Rate Act] Details Default: Values: 5 = 500 Kbps 0 = 10 Kbps 1 = 20 Kbps 2 = 50 Kbps 3 = 125 Kbps 4 = 250 Kbps 5 = 500 Kbps 6 = 800 Kbps 7 = 1 Mbps Type: Read Only Default: 0 = 16-bit 07 [Ref/Fdbk Size] Values: 0 = 16-bit Displays the size of the Reference/Feedback. The 1 = 32-bit drive determines the size of the Reference/Feedback.
Adapter Parameters Bit Definition Not Used Datalink D Datalink C Datalink B Datalink A Cmd/Ref xxx0 0001 0 = I/O disabled 1 = I/O enabled Type: Read/Write Reset Required: Yes Not Used Sets the I/O that is transferred through the adapter. Details Default: Bit Values: Not Used Parameter No.
B-4 Adapter Parameters Parameter No.
Appendix C CANopen Objects Appendix D presents information about the CANopen objects implemented in this adapter. Topic CANopen Object Tables Emergency Object CANopen Object Tables Page C-1 C-4 The tables in this section describe the implemented CANopen objects. Table C.A describes the objects for the communication profile and Table C.B describes the manufacturer specific objects. Table C.
C-2 CANopen Objects Index Sub Index 0x1800… 0 0x1804 1 2 0x1A00… 0 0x1A04 1…N Type U8 Access Read U32 U8 U8 Read/Write Read/Write Read/Write U32 Read/Write Name and Description Transmit PDO parameter. Number of entries (= 2) COB ID used by PDO Transmission type Transmit PDO mapping. Number of mapped application objects (N) Mapped object #N Table C.
CANopen Objects Index 0x221A 0x221B 0x221C 0x221D 0x221E 0x221F 0x2220 0x2221 0x2222 0x2223 0x2224 0x2225 0x2226 Sub index 0 0 0 0 0 0 0 0 0 0 0 0 0 Type S16 S32 S16 S32 S16 S32 S16 S32 S16 S32 S16 S32 U8 Access Read Read Read Read Read Read Read Read Read Read Read Read Read 1 2 3 4 5 6 U8 U8 U8 U16 U8 U8 Read/Write Read/Write Read/Write Read/Write Read/Write Read/Write 7…102 0 U8 U8 Read/Write Read 1 2 U8 U8 Read Read 0x2228 3…98 0 U8 U8 Read Read 0x2229 1 2 3 4 0 U8 U8 U16 U32 U8 Rea
C-4 CANopen Objects Emergency Object The emergency object consists of a total of 8 data bytes. The first three bytes are defined by the CANopen specification, and the remaining 5 bytes are manufacturer specific. Table C.C Emergency Object Format Byte 0 1 2 Content Emergency error Error code (See Table C.D) register 3 4 5 6 7 Manufacturer specific error files; Byte 3 and Byte 4 = 0, Byte 5 = DPI Port, Byte 6 and 7 = DPI fault code (Byte 6 = LSB) Table C.
Appendix D Logic Command/Status Words Appendix D presents the definitions of the Logic Command and Logic Status words that are used for some products that can be connected to the adapter. If the Logic Command/Logic Status for the product that you are using is not listed, refer to your product’s documentation.
D-2 Logic Command/Status Words Logic Status Word Logic Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 x x x x x x x x x x (1) x x x x x See “Owners” in drive User Manual for further information. 20-COMM-K CANopen Adapter User Manual Publication 20COMM-UM012B-EN-P 0 x Status Ready Active Command Direction Actual Direction Accel Decel Alarm Fault At Speed Local Control (1) Reference Description 0 = Not Ready (Par.
Logic Command/Status Words PowerFlex 700S Drives D-3 Logic Command Word (Phase II Control) Logic Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 x x x x x x x x x x x x x x 0 x Command Normal Stop Start (1) Jog 1 Clear Fault (2) Unipolar Direction Description 0 = Not Normal Stop 1 = Normal Stop 0 = Not Start 1 = Start 0 = Not Jog using [Jog Speed 1] (Par. 29) 1 = Jog using [Jog Speed 1] (Par.
D-4 Logic Command/Status Words Logic Status Word (Phase II Control) Logic Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 x x x x x x x x x x x x x x x (1) 0 x Status Active Running Command Direction Actual Direction Accel Decel Jogging Fault Alarm Flash Mode Run Ready At Limit (1) Tach Loss Sw At Zero Spd At Setpt Spd Enable Description 0 = Not Active 1 = Active 0 = Not Running 1 = Running 0 = Reverse 1 = Forward 0 = Reverse 1 = Forward 0 = Not Accelerating 1 = Accelerating 0 = Not Decelerating 1 =
Appendix E CANopen Network Example This appendix provides instructions on how to use the IXXAT CANopen Configuration Studio and the Mauell CoDeSys AA programming software to configure the Mauell Telmatic ME-series of PLC hardware.
E-2 CANopen Network Example Configuring the Network Nodes 1. Start the IXXAT CANopen Configuration Studio and click on New Project. 2. Type in a project name and click OK. A subdirectory is created which contains all files relevant to this project. 3. The database of the new project has now been created. The icons in the toolbar of the project are plug-ins that can be used with each section of the project. Note that some icons appear dimmed (unavailable). 4.
CANopen Network Example E-3 5. Right click on the project name and select New Group. 6. Enter the Name and a Description (optional) and select an Icon (optional) for the new group. Click OK.
E-4 CANopen Network Example 7. Select the new group and click the Module selection icon. 8. Select the hardware being used (V18 CN32), provide a Name, and adjust the Node Address and the Baud Rate. In this example, the node address of the PLC is set to 1, and the baud rate is set to 1000 Kbps. Click OK. 9. Click aktualisieren (apply) in the appearing window to build the configuration of the PLC. (Note the status bar at the bottom of the window.) Close the window after completion (no activity).
CANopen Network Example E-5 10. The project pane now shows the PLC at node 0x1 (hexadecimal notation). If the PLC is not visible, expand the tree with the (+) sign. 11. Generate a new group for the I/O. To do this, right click on the project again and select New Group. 12. Enter the Name and a Description (optional), and select an Icon (optional) for the new group. Click OK. 13. Right click on the new group and select New Device.
E-6 CANopen Network Example 14. Enter the Name, Node ID, Baudrate, and a Description (optional). 15. Click Select EDS… and browse to the folder where the EDS files are stored. In this example, select C01_de08.eds in the folder …\Eds\C-Module\ for the digital input. 16. Click the Icon browse button and select the digital input icon S_de.ico in the icon folder. Click Offnen (Open) in the Choose Icon window, and then click OK in the Device Properties window.
CANopen Network Example E-7 17. The project pane now shows the digital input module at address 0x2. 18. Repeat steps 11 through 16 for a new group with the PowerFlex drive (Node ID 7, 20COMMK301_V101.eds, PF70.ico). The completed project pane is shown below.
E-8 CANopen Network Example Configuring the Communications 1. Select the PLC and click the Communications icon. 2. Select Options > Serial Ports. 3. Select the 3964R tab, and uncheck the spontaneous transmission (changed values) and cyclic transmission boxes. Without these changes, the PLC would switch to error state because of a transmission failure on its own RS232 port. 4. Click Ok to close the serial ports window.
CANopen Network Example E-9 Configuring the PLC Variables 1. Select the project and click the Visual Object Linker icon. and Linking 2. The Visual Object Linker window has 3 tabs: Link Matrix, Connection Listing, and PLC Setup. Select the PLC Setup tab and click Add… to define the internal variables of the PLC. Create these variables carefully because they appear in the PLC program.
E-10 CANopen Network Example 3. Create a variable to store the digital inputs from the digital input module. Select Unsigned8 and Network Output… - Consumer, and enter a Name. Click Add. The variable appears in the network variables list on the PLC Setup tab. 4. Create the remaining network variables as shown in the next screen below. They are all Unsigned16 and Producers (PLC outputs).
CANopen Network Example E-11 5. Create the remaining network variables as shown in the next screen below. They are all Unsigned16 and Consumers (PLC inputs). TIP: To get a better overview, sort the table by OD-Index. TIP: If the program should automatically start after the PLC has been powered up, select Start under the Program State: selections.
E-12 CANopen Network Example 6. Return to the Link Matrix tab, where the configured variables are listed. As an EDS file has been assigned to each hardware, the various I/Os are also listed in the Producer/Consumer areas. The producer items are shown in left side rows running top to bottom, and the consumer items are in top columns running left to right. Producers have an outgoing arrow (they produce onto the network), and consumers have an incoming arrow (they consume from the network).
CANopen Network Example E-13 7. Link the Producers to the Consumers. To do so, position the mouse over a connection point. The connection point appears blue if it is valid, or red if it is invalid. Double click the connection point and it will turn yellow. Click the Calculate Connections icon at the top left of the screen, and if the connection is made, it will turn green. TIP: The variables are mapped to the PDOs in the order in which the connections are made.
E-14 CANopen Network Example 8. Make the connections as shown in the next screen below. (InputSwitch has to be linked to BE_02 of the input module.) TIP: If there are several devices with the same EDS file in the same project (for example, two drives), the names in the Visual Object Linker window must be changed so that there are not two variables with the same name. Therefore, put an index at the end of the producer name.
CANopen Network Example E-15 9. Confirmation and printout of all connections can be seen on the Connection Listing tab. Leave the Visual Objects Linker window open and return to the project. TIP: Sorting by TxPDO# or RxPDO# will group all Consumers and Producers.
E-16 CANopen Network Example Configuring the PDOs, SDOs, and SYNC 1. Select the PowerFlex70 and click the Device Configuration icon in the project toolbar. 2. On the Process Data Objects tab, the Transmission Type of all PDOs can be configured (sub-tab Properties) and the PDO mapping can be checked and adjusted (sub-tab Mapping). A. Set the Transmission Type of all RPDOs to asynchronous (Manuf. Event). B. Set the Transmission Type of the TPDO1 also to asynchronous (Manuf.
CANopen Network Example E-17 3. On the Predefined Objects tab, check the Device consumes SYNC message box (sub-tab Synchronisation Message). 4. Select the PLC and click the Device Configuration icon in the project toolbar.
E-18 CANopen Network Example 5. On the Process Data Objects tab, set the Transmission Type of the RPDOs to asynchronous (Manuf. Event). For RPDOs, only the transmission mode (synchronous or asynchronous) is relevant. Leave the Transmission Type of all TPDOs set to asynchronous (Profile Event), so the PDOs are sent when one of its variables has changed in the PLC program. 6. On the Predefined Objects tab, check the Device generates SYNC message box (sub-tab Synchronisation Message).
CANopen Network Example E-19 7. Select the Service Data Objects tab and select the Client-SDO type. Set up the SDO-Channel to the 20-COMM-K by checking the SDO valid box and inserting the COB-IDs. The COB-IDs are calculated as follows: Client -> Server: 0x600 + Node ID = 0x607 Server -> Client: 0x580 + Node ID = 0x587 8. On the Administration Objects tab, the parameters for Node/Life Guarding can be changed. See Node/Life Guarding on page 4-5 for details.
E-20 CANopen Network Example Downloading Configuration 1. Select the project and click the CAN-Bus Access icon in the project toolbar. 2. Click Download to Device(s) on the Download/Upload/Verify tab to download the connections made in the linker to the network nodes. This takes a few minutes. The PowerFlex 70 will produce some errors, as it needs to be downloaded separately. (The adapter must be in Pre-Operational State). Close the window when complete. 3.
CANopen Network Example E-21 4. Select the Common Utilities tab and click Start Scan until node 7 appears, and then click Cancel. 5. Select Node 7 and click the NMT Module Control tab. Click Enter Pre-Operational to put the PowerFlex 70 into the Pre-Operational State. Return to the Download/Upload/Verify tab.
E-22 CANopen Network Example 6. Select the option save all parameters and click Download to Device(s). Download must be finished without faults. Otherwise, the device was not in the pre-operational state for the full time period. If the problem is still pending, power off the PLC and start download again. PLC Program 1. Return to the Visual Object Linker window, select the PLC Setup tab, and click Run Codesys. Now, the variables from the linker are created and embedded in the PLC program.
CANopen Network Example E-23 2. When CoDeSys is launched, the hardware type has to be selected. Select ME 30 telmatic V/B-Modul. 3. Confirm the defaults by selecting OK. 4. The Program Unit has to be specified. This is the first unit in any program. It must be a Program and cannot be deleted. ST (Structured Text) has been selected as programming language in this example. Click OK.
E-24 CANopen Network Example 5. The layout of the screen shows POUs (Program Organization Units) on the left, with the programming area on the right. In the lower left corner are the icon tabs for POUs, Data Types, Visualizations, and Resources. 6. The file with the variables that are created from the linker is in Global Variables on the Resources tab.
Appendix F Logic Controller Program Example The example logic controller program in this appendix provides details of how to program the Mauell Telmatic ME series of PLC hardware with the Mauell CoDeSys AA programming software to control a PowerFlex 70 or PowerFlex 700 drive.
F-2 Logic Controller Program Example Network Variables File Select the Resources tab. In the Global Variables folder, a file has been created with a unique number (for this example, 0003L8CJ). Double-click on this number to view the variable created by the linker. Figure F.
Logic Controller Program Example Program Code and Program Run Figure F.2 F-3 Example Program Code To run the program, perform these steps: 1. Select Online > Communication Parameters and configure the communication parameters. A PLC program can either be downloaded over a serial cable connected to a computer's COM Port (local) or over the PC/CAN-Interface card that has already been used to configure the devices on the CANopen network. Figure F.3 Communication Parameters for PC/CAN-Interface Card 2.
F-4 Logic Controller Program Example 3. If the program has changed, the program must be downloaded first. Click Ja (Yes). Figure F.4 Login Menu 4. To set the PLC in Run mode, select Online > Run or click the Run icon in the toolbar. NOTE: When the program is running, the current values of the variables are visible in the opened POUs (Program Organization Units) and the Global Variables files. NOTE: After power cycling, the PLC must be set in RUN mode every time.
Logic Controller Program Example Figure F.6 Function Block SDO_READ - Program Code Figure F.
F-6 Logic Controller Program Example Figure F.
Logic Controller Program Example Figure F.9 F-7 Function Calls of SDO_READ and SDO_WRITE For more information on these functions refer to SDO access in “CiA Draft Standard 405 CANopen Interface” and “Device Profile for IEC 61131-1 Programmable Devices.
F-8 Logic Controller Program Example Notes: 20-COMM-K CANopen Adapter User Manual Publication 20COMM-UM012B-EN-P
Glossary A Adapter Devices such as drives, controllers, and computers usually require an adapter to provide a communication interface between them and a network such as CANopen. An adapter reads data on the network and transmits it to the connected device. It also reads data in the device and transmits it to the network. The 20-COMM-K CANopen adapter connects PowerFlex 7-Class drives to a CANopen network.
G-2 Glossary ControlFLASH An Allen-Bradley software tool that lets users electronically update firmware on printed circuit boards. Controller A controller, also called programmable logic controller, is a solid-state control system that has a user-programmable memory for storage of instructions to implement specific functions such as I/O control, logic, timing, counting, report generation, communication, arithmetic, and data file manipulation.
Glossary G-3 DPI Peripheral A device that provides an interface between DPI and a network or user. Peripheral devices are also referred to as “adapters” or “modules.” The 20-COMM-K adapter, 1203-USB or 1203-SSS converter, and PowerFlex 7-Class HIMs (20-HIM-xxx) are examples of DPI peripherals. DPI Product A device that uses the DPI communications interface to communicate with one or more peripheral devices. For example, a motor drive such as a PowerFlex 7-Class drive is a DPI product.
G-4 Glossary Fault Configuration When communications are disrupted (for example, a cable is disconnected), the adapter and PowerFlex drive can respond with a user-defined fault configuration. The user sets the data that is sent to the drive using specific fault configuration parameters in the adapter. When a fault action parameter is set to use the fault configuration data and a fault occurs, the data from these parameters is sent as the Logic Command, Reference, and/or Datalink(s).
Glossary G-5 Life Time Factor See Life Guarding. Logic Command/Logic Status The Logic Command is used to control the PowerFlex 7-Class drive (for example, start, stop, direction). It consists of one 16-bit word of output to the adapter from the network. The definitions of the bits in this word depend on the drive, and are shown in Appendix D. The Logic Status is used to monitor the PowerFlex 7-Class drive (for example, operating state, motor direction).
G-6 Glossary O Objects The CANopen specification defines an object as “an abstract representation of a particular component within a product.” Object Dictionary Any CANopen device has a unique object dictionary, which is the interface to the application. The object dictionary contains all data types used in the device, the communication parameters, the application data, and the configuration parameters.
Glossary R G-7 Reference/Feedback The Reference is used to send a setpoint (for example, speed, frequency, torque) to the drive. It consists of one word of output to the adapter from the network. The size of the word (either a 16-bit word or 32-bit word) is determined by the drive. Feedback is used to monitor the speed of the drive. It consists of one word of input from the adapter to the network. The size of the word (either a 16-bit word or 32-bit word) is determined by the drive.
G-8 Glossary Z 20-COMM-K CANopen Adapter User Manual Publication 20COMM-UM012B-EN-P Zero Data When communications are disrupted (for example, a cable is disconnected), the adapter and drive can respond with zero data. Zero data results in the drive receiving zero as values for Logic Command, Reference, and Datalink data. If the drive was running and using the Reference from the adapter, it will stay running but at zero Reference.
Index A adapter applying power, 2-8 commissioning, 2-1 compatible products, 1-2 components, 1-1 configuration tools, 3-1 connecting to the drive, 2-4 connecting to the network, 2-7 definition, G-1 features, 1-2 flash updating, 3-10 grounding, 2-6 installation, 2-1 to 2-10 mounting on the drive, 2-6 parameters, B-1 to B-4 resetting, 3-9 specifications, A-1 viewing its status, 3-10 CANopen Network communications configuration, E-8 data rates, A-1 definition, G-1 example, E-1 NMT (Network Management), 4-1 Nod
Index-2 D data exchange Change of State (COS), 3-5, G-1 Cyclic, 3-5, G-2 RTR (Polled), 3-5, G-7 data rate definition, G-2 setting with parameter, 3-3 setting with switch, 2-3 Datalink Size parameter, B-2 Datalinks definition, G-2 in I/O image, 5-4 using, 5-8 diagnostic items, 7-4 dimensions, A-1 downloading configuration, 4-5, E-20 DPI connector on adapter, 1-1 data rates, A-1 definition, G-2 Internal Interface cable, 2-4, 2-5 peripheral, G-3 products, G-3 DPI Data Rate parameter, B-1 events clearing/view
Index-3 installation applying power to the adapter, 2-8 commissioning the adapter, 2-1 connecting to the drive, 2-4 connecting to the network, 2-7 preparing for, 2-1 Internal Interface cables connecting to the adapter, 2-5 connecting to the drive, 2-5 illustration, 2-5 L LCD HIM, 3-2 LED HIM, 3-2 LEDs, see status indicators Life Guarding, 4-5, E-19, G-4 Logic Command/Status bit definitions for PowerFlex 70/700/700H drives, D-1 PowerFlex 700S drives, D-3 definition, G-5 in I/O image, 5-4 using, 5-6 logic c
Index-4 PLC program, E-22 variables, E-9 plug for adapter, 2-7 Polled, see RTR (Remote Transmission Request) PORT status indicator locating, 1-6 troubleshooting with, 7-2 power consumption, A-1 PowerFlex drives compatible with adapter, 1-2 definition, G-6 HIM, 3-2 installing adapter on, 2-4 Pre-Operational state, 4-2 preparing for an installation, 2-1 processor, see controller producer/consumer network, G-6 programmable logic controller, see controller Q quick start, 1-5 R Ref/Fdbk Size parameter, B-2 Re
Index-5 W web site DriveExecutive software, G-3 DriveExplorer software, G-3 DriveTools SP software, G-3 EDS files, G-3 manuals, P-1 wiring, see cables Z zero data configuring the adapter for, 3-7 definition, G-8 20-COMM-K CANopen Adapter User Manual Publication 20COMM-UM012B-EN-P
Index-6 20-COMM-K CANopen Adapter User Manual Publication 20COMM-UM012B-EN-P
U.S. Allen-Bradley Drives Technical Support - Tel: (1) 262.512.8176, Fax: (1) 262.512.2222, Email: support@drives.ra.rockwell.com, Online: www.ab.com/support/abdrives www.rockwellautomation.com Power, Control and Information Solutions Headquarters Americas: Rockwell Automation, 1201 South Second Street, Milwaukee, WI 53204 USA,Tel: (1) 414.382.2000, Fax: (1) 414.382.
