Lenze I51AE175B User Manual

9.4.15 Short setup
In the following, the steps required for controlling the inverter via CANopen are described.
Parameterisaon required
1.
Set the CANopen node address.
•
Each network node must be provided with a unique node address.
•
Details: 4Node address seng ^ 205
2.
Set the CANopen baud rate.
•
Default seng: 500 kbps
•
Details: 4Baud rate
seng ^ 205
3.
Oponal: Congure inverter as "mini master".
•
Required if the inialisaon of the CANopen network and the associated status change
from "Pre-Operaonal" to "Operaonal" is not eected by a higher-level host system.
•
Details: 4Congure device as mini master ^ 206
4.
Oponal: Change the response of the inverter to the triggering of the RPDO me monitor-
ing.
•
Default seng: In case of missing RPDOs, an error is triggered.
•
Details: 4Error responses ^ 219
5.
Save parameter sengs: 0x2022:003 (P700.03) = "On / start [1]".
6.
Switch the inverter o and then on again in order that the changed communicaon set-
tings can get eecve.
7.
Program the master so that the following SDO messages are sent to the inverter:
1.
0x2631:037 (P400.37) = 1 (acvate network control)
2.
0x2860:001 (P201.01) = 5 (set network as standard setpoint source)
3.
PDO mapping and conguraon of the process data objects RPDO1 and TPDO1 (see
the secons "RPDO1 mapping" and "TPDO1 mapping").
8.
Control inverter via RPDO1 (and evaluate the current status via TPDO1).
•
For assignment of the control word and setpoint selecon, see secon "RPDO1 map-
ping".
•
For assignment of the status word and actual value output, see secon "TPDO1 map-
ping".
•
Acceleraon 0x2917 (P220.00) and deceleraon 0x2918 (P221.00) can be set/changed
via SDO messages.
In the default seng, the digital input DI1 is assigned with the "Run" funcon. If
the network control is acvated, this funcon serves as "start enable" for start
commands via network. Hence, the digital input DI1 must be set to HIGH level in
order that the motor can be started via network. 4Start / stop motor ^ 350
Conguring the network
CANopen
Short setup
223

Lenze I51AE175B Specifications

General

Brand	Lenze
Model	I51AE175B
Category	Inverter
Language	English