7 Fieldbus
CANopen quick start
96 Lenze · Inverter i510 / i550 - Cabinet · Operation Manual · 0.4 EN · 02/2016
7.1 CANopen quick start
The Can communicates with the drive over the COB-IDs. This COB-IDs access the RPDO and TPDO Registers which
are mapped to the parameter registers.
Detailed information about dip-switch settings for Node address, baud rate, and network termination are
described in the i500 Mounting and switch-on instructions.
1. Register the eds file into your CANOpen master’s configuration software
2. Set an individual Node address:
i510: Parameter setting P510:1 (0x2301:1)
i550: Dip-Switches or Parameter setting P510:1 (0x2301:1)
3. Set the baud rate
i510: Parameter setting P510:2 (0x2301:2)
i550: Dip-Switches or Parameter setting P510:2 (0x2301:2)
4. Setup network termination and both network ends (Resistor)
i510: Install external 120 Ohm ¼ W Resistor
i550: Dip-Switches setting
5. CANOpen Slave / Mini-Master
The CANOpen enter a Preporeational state upon but-up. The CANOpen master send a NMT message to wake
the drive up and the CANOpen goes to Operational state. The i500 can be configured as CANOpen Slave or
Mini-Master. A "mini-master" will boot in an "operational" state and after the delay time programmed in
0x2301:4 (P510.4) will send out the NMT message to set all slaves on the network to the "operational" state.
6. Watchdog
Per Default the watchdog is enabled with P540:5 (0x1400:5) setting 100ms. (Setting 0 disables the watchdog)
For a safe operation it is highly recommended to have the watchdog enabled!
7. Save the parameters (Set P700:3, 0x2022:3=1) and power cycle the drive completely that the configuration
takes effect.
8. For network control the following setup needs to be done:
(This can also be done with SDO messages)
For network control the P400:37 (0x2631:37) “Network enable” need to be set.
Set P201:1 (0x2860:1) “Default frequency setpoint” to the network
9. Change the mapping as followed:
Controller to the drive:
0x400B:3 Network Speed Setpoint [0.1 Hz]
Drive to the Controller
0x400C:3 Network Speed Actual [0.1 Hz]
The mapping can be easily done with a guided screen in Easy Starter (Version ≥ V1.9)
If the mapping is down over the master PLC the procedure under point 10-11 needs to be followed.
10. RPDO1 Mapping (Used to command the drive)
RPDO1 must first have it’s COB ID set and have the PDO unlocked so that it’s mapping can be changed.
To do so you must set bit 31 in 0x1400:1. This will unlock the PDO for editing (makes the PDO invalid).
RPDO1 Default COB ID: 0x200+the node ID (hex)
To Next Page
Loading...
Need help?
General
