Industrial Automation CANopen offer June 2003 Part 1: IA global offer overview Part 2: Product characteristics
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 1: IA global offer overview
Products Products
CANopen master PCMCIA card for Premium PLC:
TSXCPP100
CANopen communication module for TEGO POWER/QUICKFIT motor starters: APP1CCO0 = 16I + 8O on bus APP1CCO2 = 16I + 8O on bus + 16I + 16O locally
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 1: IA global offer overview
Products Products
Advantys FTB CANopen IP67 monobloc discrete I/O splitter blocks 4 versions = 4 catalogue numbers FTB1CN 16E P0: 16I or 8I + 8 Diag FTB1CN 12E04S P0: 12I + 4O or 4I + 4O + 8 Diag FTB1CN 08E08S P0: 8I + 8O or 8I + 8 Diag FTB1CN 16C P0: 16I/O or 8I/O + 8I/O Diag
Advantys STB CANopen communication module STB NCO2212
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 1: IA global offer overview
Products Products
CANopen communication card for ATV38/ATV58/ATV58F variable speed drives
VW3A58308
Programmable card with CANopen embedded for ATV38/ATV58/ATV58F variable speed drives
VW3A581131
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 1: IA global offer overview
Products Products
ATV31 variable speed drive with integral CANopen link: ATV31Hxxxx: standard enclosure version ATV31Cxxxx: dust and damp proof enclosure version ATV31Kxxxx: kit version
Lexium MHDA servodrive with integral CANopen link 17D xxxx 17D HP xxxx
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 1: IA global offer overview
Accessories Accessories
CANopen Sycon configuration software from HILSCHER: LXLFBCM
Junction box for connecting the CANopen master card to 1 or 2 CANopen buses: TSXCPPACC1
Since June 2003, Schneider no longer provides cables or connectors for CANopen, but recommends suppliers. A CANopen wiring offer will be available by the end of 2003. Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 1: IA global offer overview
Recommended Recommended suppliers suppliers
Cables - U.I.LAPP GmbH Schultze-Delitsch-Str. 25 D-70565 Stuttgart Germany
http://www.lappcable.com
Connectors - ERNI Elektroapparate GmbH Seestrasse 9 D-73099 Adelberg Germany - ERNI Connectique S.a.r.l, France 27 bis, avenue des Sources / CP 638 F-69258 LYON Cedex 09,
http://connect.erni.com/
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 1: IA global offer overview
Planned Planned additions additions to to the the offer offer n Low-cost CANopen Premium master module: TSXCPP110 Just one catalogue number comprising the PCMCIA card + cable + 9-pin SUBD Estimated price = 500 euro instead of 1962 euro Compatible with CANopen V4.01 (Heartbeat management, etc.) July 2003 1 physical port instead of 2
n New version of configuration software: SYCSPULFUCD28M Estimated price = 890 euro instead of 1035 euro Conforms to the new =S= policy for registering software Single or multi-user licences (3,10, site) Supports the Heartbeat function and the latest EDS files
July 2003
n Wiring accessories Cables, taps, extension cables, etc.
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
End 2003
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Part 1: IA global offer overview
Planned Planned additions additions to to the the offer offer
End 2003
n Installation aid Terminal for testing the network wiring Network analyser (for expert users only)
n Tesys CANopen Model U
End 2003
Uses the same hardware as the dedicated BECKHOFF module
n Twido CANopen master module 2004
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen master master card: card: TSXCPP100 TSXCPP100 Type III PCMCIA card inserted in the processor module communication port slot (only 1 CANopen master per PLC). 2 indicator lights
Brackets for fixing on PLC CPU
Connecting cable, 0.6 m long, with 15-pin male SUBD at the end Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen master master card: card: TSXCPP100 TSXCPP100
Compatibility: Premium processors >= V5.0 except for TSX57103. PL7 >= V4.0 Sycon configurator >= 2.630 The Sycon configurator is used to generate the ***.co configuration file which can be imported from PL7 or loaded directly into the card.
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen master master card: card: TSXCPP100 TSXCPP100
Functions supported: Bus management Implicit exchange of PDOs (8 bytes max.) using %MW words Explicit exchange of SDOs by WRITE_VAR and READ_VAR functions Sending any identifier by the SEND_REQ function Fault identification, diagnostics and history by the SEND_REQ function
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen master master card: card: TSXCPP100 TSXCPP100 Processor
Max. size of configuration file (1)
Max. size of I/O data (PDO) Mast task
Fast task
TSXP57-203
16 Kb
512 %MW (256 + 256)
64 %MW (32 + 32)
TSXP57-253
16 Kb
512 %MW (256 + 256)
64 %MW (32 + 32)
TSXP57-303
32 Kb
1024 %MW (512 + 512)
128 %MW (64 + 64)
TSXP57-353
32 Kb
1024 %MW (512 + 512)
128 %MW (64 + 64)
TSXP57-453
64 Kb
3584 %MW (1792 + 1792)
256 %MW (128 + 128)
(1) This maximum size can be exceeded if the configuration file is loaded directly into the card using the Sycon software. The maximum file size authorized by Sycon is 256 Kb. For 10 ATV58: Configuration file size = 4.6 Kb I/O data = 2 X 20 words For 20 ATV58: Configuration file size = 7.5 Kb I/O data = 2 X 40 words Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication module module for for TEGO TEGO POWER/QUICKFIT POWER/QUICKFIT
Communication module placed on the left side of the motor starters Indicator lights Bus connection terminal block Switches for configuring the speed and address Local I/O connection terminal blocks (only on APP1CCO2 module) 24V power supply
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication module module for for TEGO TEGO POWER/QUICKFIT POWER/QUICKFIT
2 catalogue numbers: n APP1CCO0 16I + 8O on bus Controls 8 motor starter units n APP1CCO2 16I + 8O on bus + 16I + 16O locally Controls 24 motor starter units
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication module module for for TEGO TEGO POWER/QUICKFIT POWER/QUICKFIT
Main characteristics: Supported speeds:
125, 250, 500 Kbps or 1 Mbps configured via switches
Supported addresses:
1 to 63 configured via switches
CAN V2.A-compliant:
Identifier on 11 bits
Allocation of identifiers:
By address
Profiles:
DS-301 “Communication profile” DS-401 “I/O module”.
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication module module for for TEGO TEGO POWER/QUICKFIT POWER/QUICKFIT
Process Data Objects = PDO CANopen APP1CO00 and APP1CO02 modules can control a maximum of: n 5 transmit PDOs n 5 receive PDOs Only the first predefined transmit PDO (1800) and the first predefined receive PDO (1400) are used with TEGO motor starters.
Supported transmission modes: n Transmit: Synchronous and asynchronous, acyclic n Receive: Synchronous and asynchronous Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication module module for for TEGO TEGO POWER/QUICKFIT POWER/QUICKFIT
Description of predefined PDOs on APP1CCO0: 1 receive PDO: 1400 (control) containing 1 byte: n Control of 8 TEGO base contactors 1 transmit PDO: 1800 (monitoring) containing 2 bytes: n Status of 8 auxiliary contacts on contactors n Status of 8 auxiliary contacts on circuit-breakers
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication module module for for TEGO TEGO POWER/QUICKFIT POWER/QUICKFIT
Description of predefined PDOs on APP1CCO2: 1 receive PDO: 1400 (control) containing 4 bytes: n Control of 8 TEGO sub-base contactors n Control of 16 external outputs on sub-base n 4th byte not used
1 transmit PDO: 1800 (monitoring) containing 4 bytes: n Status of 8 auxiliary contacts on contactors n Status of 8 auxiliary contacts on circuit-breakers n Status of 16 external inputs on sub-base
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication module module for for TEGO TEGO POWER/QUICKFIT POWER/QUICKFIT
Service Data Object = SDO
1 transmit SDO, 1 receive SDO Allowing access to any dictionary object by message exchange. The various objects that can be accessed are not documented.
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication module module for for TEGO TEGO POWER/QUICKFIT POWER/QUICKFIT
Special Function Objects: SFO NMT services:
CANopen minimum boot-up (no dynamic allocation of identifiers)
SYNC object:
Controls the transmission and reception of PDOs in synchronous mode
EMCY object:
Sent in the event of a fault on the motor starter
Node guarding object:
Supported. Sent on polling of motor starter status
Heartbeat object:
Not supported
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
and detection of absence of polling
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Part 2: Product characteristics
IP67 IP67 monobloc monobloc I/O I/O splitter splitter block block on on CANopen CANopen bus: bus: FTB FTB 1CN••••••P0 1CN••••••P0
Connection of sensors/actuator to 8 M12 sockets with status or diagnostic LEDs for each channel LEDs for bus and power supply diagnostics
24 VDC power supply for module Thumbwheels for configuring the module speed and address Connection of module to bus
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
IP67 IP67 monobloc monobloc I/O I/O splitter splitter block block on on CANopen CANopen bus: bus: FTB FTB 1CN••••••P0 1CN••••••P0
4 versions: l16I
modules:
FTB1CN 16E P0
Connection of 16 single sensors or 8 sensors with integral diagnostic function l12I/4O
modules:
FTB1CN 12E04S P0
Connection of 12 single sensors and 4 single actuators or 4 sensors and 4 actuators with integral diagnostic function l8I/8O
modules:
FTB1CN 08E08S P0
Connection of 8 single sensors and 8 single actuators or 8 actuators with integral diagnostic function l
Configurable 16I or 16O modules:
FTB1CN 16C P0
Connection of 16 sensors, or 15 sensors and 1 actuator, or 14 sensors and 2 actuators, etc. Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
IP67 IP67 monobloc monobloc I/O I/O splitter splitter block block on on CANopen CANopen bus: bus: FTB FTB 1CN••••••P0 1CN••••••P0
Main characteristics: Supported speeds:
10, 20, 50, 125, 250, 500, 800 Kbps or 1 Mbps configured by thumbwheel with automatic recognition capability
Address:
1 to 99 configured by 2 thumbwheels
CAN V2.A-compliant:
Identifier on 11 bits
Allocation of identifiers:
By address for PDOs 1400 and 1800 Manually for PDOs 1405 and 1805
Profiles:
DS-301 “Communication profile” DS-401 “I/O module”
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
IP67 IP67 monobloc monobloc I/O I/O splitter splitter block block on on CANopen CANopen bus: bus: FTB FTB 1CN••••••P0 1CN••••••P0
Process Data Objects = PDO CANopen IP67 monobloc I/O splitter blocks can control: n 2 predefined transmit PDOs n 2 predefined receive PDOs (with the exception of module FTB1CN 16E P0 16 inputs: only 1 PDO)
Supported transmission modes: nTransmit: Synchronous and asynchronous, cyclic and acyclic, on Remote frame nReceive: Synchronous and asynchronous
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
IP67 IP67 monobloc monobloc I/O I/O splitter splitter block block on on CANopen CANopen bus: bus: FTB FTB 1CN••••••P0 1CN••••••P0
Description of predefined PDOs n Choice of 2 transmit PDOs (inputs) PDO 1800 = 1 word:
Input/Diag
PDO 1805 = 3 or 4 words: Input/Diag + Module-channel diagnostics Choice of 2 receive PDOs (outputs): PDO 1400 = 1 word:
Outputs (except for module FTB1CN 16EP0)
PDO 1405 = 1 word:
Outputs + Configuration channels 1. Input or Diag.
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
IP67 IP67 monobloc monobloc I/O I/O splitter splitter block block on on CANopen CANopen bus: bus: FTB FTB 1CN••••••P0 1CN••••••P0
Service Data Object = SDO 1 transmit SDO, 1 receive SDO Allowing access to any dictionary object by message exchange. For example, can be used to set parameters for: Input logic: Output logic: Fallback position for outputs: in the event of communication problems Operation of channel 1 (pin 2):
NO - NC contact NO - NC status Maintain/fallback to 0/fallback to 1 Input or sensor with integral diagnostics
These parameters can be set when the network is initialised (Object Configuration window) or by application. Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
IP67 IP67 monobloc monobloc I/O I/O splitter splitter block block on on CANopen CANopen bus: bus: FTB FTB 1CN••••••P0 1CN••••••P0
Special Function Objects: SFO NMT services:
CANopen minimum boot-up (no dynamic allocation of identifiers)
SYNC object:
Controls the transmission and reception of PDOs in synchronous mode
EMCY object:
Sent in the event of a fault on the splitter block
Node guarding object:
Supported. Sent on polling of splitter block status and detection of absence of polling
Heartbeat object: Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
Not supported Slide 28/64
Part 2: Product characteristics
CANopen CANopen communication communication module module for for STB: STB: STBNCO2212 STBNCO2212 Communication module placed on the left side of the first cell (primary cell). Bus status indicator lights Bus connection socket 2 thumbwheels for configuring the speed and address on the bus (2 stages) Optional SIM memory card for backing up the cell bus configuration HE13 8-pin male connector for connecting the PC to the STB (configuration change, debugging) 24VDC power supply for module Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication module module for for STB STB
Main characteristics: Supported speeds: Address:
10, 20, 50, 125, 250, 500 Kbps or 1 Mbps
configured by thumbwheel
1 to 99
configured by thumbwheel
CAN V2.A-compliant:
Identifier on 11 bits
Allocation of identifiers:
By address for first 4 PDOs Manually for the others
Profiles:
DS-301 “Communication profile” DS-401 “I/O module”
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication module module for for STB STB
Supported Process Data Objects: PDO The CANopen module can control a maximum of 32 receive PDOs and 32 transmit PDOs. Each PDO contains a maximum of 8 bytes of data. - The standard EDS file supplied with the CANopen module can be used to control a maximum of 4 receive PDOs and 4 transmit PDOs. - The Advantys configurator is used to configure the cell bus and to generate an EDS file specific to each bus configuration. The generated file can be used to control up to 32 receive PDOs and 32 transmit PDOs. - Customised PDOs can be defined in order to transport specific objects (diagnostics).
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication module module for for STB STB
Supported PDOs in the standard EDS file 4 receive PDOs (outputs): PDO 1 : Discrete outputs (managed by 8-bit block) PDO 2 to 4 : Analogue outputs (managed by 16-bit block) 4 transmit PDOs (inputs): PDO 1 : Discrete inputs (managed by 8-bit block) PDO 2 to 4 : Analogue inputs (managed by 16-bit block) Transmission modes supported by the PDOs: nTransmit: Synchronous and asynchronous, cyclic and acyclic nReceive: Synchronous and asynchronous Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication module module for for STB STB
Supported Service Data Objects: SDO 1 transmit SDO, 1 receive SDO Allowing access to any dictionary object by message exchange.
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication module module for for STB STB
Manufacturer-Specific Objects These objects can be accessed via the PDO or SDO services. - Global Bits (Index: 4000H - Sub-index: 0) Indicates the type of error on the cell bus. - Communication Diagnostics (Index: 4001H - Sub-index: 0) Low-order 4001: Status of cell bus; High-order 4001: Bus diagnostics. - Node Configured (Index: 4002H - Sub-index: 0 to 8) Each bit represents a module on the cell bus. When the module is configured, the corresponding bit is set to 1.
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication module module for for STB STB
Manufacturer-Specific Objects (continued) - Node Operational (Index: 4003H - Sub-index: 0 to 8) Each bit represents a module on the cell bus. When the module is operational, the corresponding bit is set to 1. - Node Error (Index: 4004H - Sub-index: 0 to 8) Each bit represents a module on the cell bus. When a fault occurs on the module, the corresponding bit is set to 1. - Node Assembly Fault (Index: 4005H - Sub-index: 0 to 8) Each bit represents a module on the cell bus. When a configuration fault occurs on the module, the corresponding bit is set to 1. Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication module module for for STB STB
Manufacturer-Specific Objects (continued) - NIM Status (Index: 4006H - Sub-index: 0) Indicates the status of the communication module (NIM).
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication module module for for STB STB
Special Function Objects: SFO NMT services:
CANopen minimum boot-up (no dynamic allocation of identifiers)
SYNC object:
Controls the transmission and reception of PDOs in synchronous mode
EMCY object:
Sent in the event of a fault on the cell
Node guarding object:
Supported. Sent on polling of the cell status and detection of absence of polling
Heartbeat object: Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
Supported. Periodic sending of cell status. Slide 37/64
Part 2: Product characteristics
CANopen CANopen communication communication card card for for ATV58: ATV58: VW3A58308 VW3A58308 L-shaped electronic card connected to the drive control card. Switches for configuring the speed and the address Indicator lights
End of line switch Bus connection terminal block
Supplied with floppy disk containing the .eds description file for the device. Compatible with all ATV58 and ATV58F control cards. Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication card card for for ATV58: ATV58: VW3A58308 VW3A58308
Main characteristics: Supported speeds: Address:
125, 250, 500 Kbps or 1 Mbps
configured by switches
1 to 63
configured by switches
CAN V2.A-compliant:
Identifier on 11 bits
Allocation of identifiers:
By address
Profiles:
DS-301 “Communication profile” DS402 V1.1: “Drives & motion control-Velocity Mode” DriveCom
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication card card for for ATV58: ATV58: VW3A58308 VW3A58308
Process Data Objects = PDO The CANopen communication card for ATV58 can control: n 1 predefined transmit PDO n 1 predefined receive PDO Supported transmission modes: nTransmit: Asynchronous, cyclic and acyclic, on Remote frame nReceive: Asynchronous
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication card card for for ATV58: ATV58: VW3A58308 VW3A58308
Supported PDO services (control): 1 receive PDO: 1400 (control) = 2 words: CMDD: DRIVECOM control register LFRD: DRIVECOM speed reference in rpm 1 transmit PDO: 1800 (monitoring) = 2 words: ETAD: DRIVECOM status word RFRD: DRIVECOM motor speed in rpm * Time intervals between the PDOs sent by the drive: minimum 50 ms, maximum 1 second.
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication card card for for ATV58: ATV58: VW3A58308 VW3A58308
Supported Service Data Objects: SDO 1 transmit SDO, 1 receive SDO Allowing access to any dictionary object by message exchange. These parameters can be set when the network is initialised (Object Configuration window) or by application.
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
CANopen CANopen communication communication card card for for ATV58: ATV58: VW3A58308 VW3A58308
Special Function Objects: SFO NMT services:
CANopen minimum boot-up (no dynamic allocation of identifiers)
SYNC object:
Not supported
EMCY object:
Sent in the event of a fault on the drive
Node guarding object:
Supported. Sent on polling of the splitter block status and detection of absence of polling
Heartbeat object: Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
Not supported
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Part 2: Product characteristics
Programmable Programmable card card with with CANopen CANopen link link for for ATV38/58: ATV38/58: VW3A581131 VW3A581131 L-shaped electronic card connected to the drive control card The CANopen link can operate in master or slave mode.
Switches for configuring the speed and address
Indicator lights
Removable terminal block
End of line resistor jumper
8 configurable I/O with external 24V power supply
9-pin SUBD connector for connection to CANopen bus
RJ45 connector for connection to PC Compatibility with control cards: ATV38: all versions - ATV58 >=4.2 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
ATV58F >=3.1IE27. Slide 44/64
Part 2: Product characteristics
Programmable Programmable card card with with CANopen CANopen link link for for ATV38/58: ATV38/58: VW3A581131 VW3A581131
Main characteristics in master mode: Supported speeds:
125, 250, 500 Kbps or 1 Mbps if configured by switches
10, 20, 50, 100, 125, 250, 500, 800 Kbps or 1Mbps if configured by software
Address:
1 to 32 nodes 9 PDOs maximum per slave
CAN V2.A-compliant:
Identifier on 11 bits
Profiles:
DSP 301 V4.01 and DSP 306
All CANopen network functions: (network starting, periodic exchanges, monitoring, diagnostics) are managed by integrated libraries in the PLC application. Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
Programmable Programmable card card with with CANopen CANopen link link for for ATV38/58: ATV38/58: VW3A581131 VW3A581131
Main characteristics in slave mode: Supported speeds:
125, 250, 500 Kbps or 1 Mbps if configured by switches 10, 20, 50, 100, 125, 250, 500, 800 Kbps or 1Mbps if configured by software
Address:
1 to 63
configured by switches or by software
CAN V2.A-compliant:
Identifier on 11 bits
Allocation of identifiers:
By address
Profiles:
DS 405 Programmable Devices IEC1131
All CANopen network functions: (network starting, periodic exchanges, monitoring, diagnostics) are managed by integrated libraries in the PLC application. Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
Programmable Programmable card card with with CANopen CANopen link link for for ATV38/58: ATV38/58: VW3A581131 VW3A581131
Process Data Objects = PDO The CANopen programmable card for ATV58 can control: n 1 8-byte user-definable transmit PDO n 1 8-byte user-definable receive PDO Supported transmission modes: n Transmit: Synchronous: acyclic, cyclic Asynchronous device profile and manufacturer specific
n Receive:
Synchronous acyclic, cyclic
Asynchronous device profile and manufacturer specific Capacity for using one PDO for direct slave-to-slave transmission (PDO linking)
Content of PDOs assigned by application program. Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
Programmable Programmable card card with with CANopen CANopen link link for for ATV38/58: ATV38/58: VW3A581131 VW3A581131
Supported Service Data Objects: SDO 1 transmit SDO, 1 receive SDO For accessing card inputs/outputs. The drive parameters can be written or read with an application program, by reserving two words from the PDOs using a PKW-type indexed addressing system.
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
Programmable Programmable card card with with CANopen CANopen link link for for ATV38/58: ATV38/58: VW3A581131 VW3A581131
Special Function Objects: SFO NMT services:
CANopen minimum boot-up (no dynamic allocation of identifiers)
SYNC object:
Supported
EMCY object:
Controlled from a function block
Node guarding object:
Supported. Sent on polling of the splitter block status
The user has to enter the code in the function block
and detection of absence of polling
Heartbeat object: Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
Not supported.
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Part 2: Product characteristics
ATV31 ATV31 variable variable speed speed drive drive with with integral integral CANopen CANopen link link
The Altivar 31 is fitted with a female RJ45 connector which supports both Modbus and CANopen protocols. Both protocols can be used simultaneously. The transmission speed and the address are configured via the integral HMI.
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
ATV31 ATV31 variable variable speed speed drive drive with with integral integral CANopen CANopen link link
Main characteristics: Supported speeds:
10, 20, 50, 125, 250, 500 Kbps or 1 Mbps configured via integral HMI
Address:
1 to 127
configured via integral HMI
CAN V2.A-compliant:
Identifier on 11 bits
Allocation of identifiers:
By address for the first PDO (PDO1) Manually for PDO5
Profiles:
DS-301 V4 “Communication profile” DS402 “Drives & motion control-Velocity Mode” DriveCom
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
ATV31 ATV31 variable variable speed speed drive drive with with integral integral CANopen CANopen link link
Process Data Objects = PDO The ATV31 can control: n 2 predefined transmit PDOs n 2 predefined receive PDOs Supported transmission modes: nTransmit: PDO1:
Asynchronous, acyclic
PDO5:
Synchronous, asynchronous, and acyclic, on Remote frame
nReceive: PDO1:
Asynchronous
PDO5:
Synchronous, asynchronous
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
ATV31 ATV31 variable variable speed speed drive drive with with integral integral CANopen CANopen link link
Supported PDO services (control): Receive PDO1: 1400 (control) = 1 word CMDD: DRIVECOM control register
Receive PDO5: 1405 (control) = 2 words CMDD: DRIVECOM control register LFRD: DRIVECOM speed reference in rpm with the possibility of adding 2 extra words from the object dictionary.
Transmit PDO1: 1800 (monitoring) = 1 word ETAD:
DRIVECOM status word
Transmit PDO5: 1805 (monitoring) = 2 words ETAD: RFRD:
DRIVECOM status word DRIVECOM motor speed in rpm
with the possibility of adding 2 extra words from the object dictionary. Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
ATV31 ATV31 variable variable speed speed drive drive with with integral integral CANopen CANopen link link
Supported Service Data Object: SDO 1 transmit SDO, 1 receive SDO Allowing access to any dictionary object by message exchange. These parameters can be set when the network is initialised (Object Configuration window) or by application.
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
ATV31 ATV31 variable variable speed speed drive drive with with integral integral CANopen CANopen link link
Special Function Objects: SFO NMT services:
CANopen minimum boot-up (no dynamic allocation of identifiers)
SYNC object:
Supported
EMCY object:
Sent in the event of a fault on the drive
Node guarding object:
Supported. Sent on polling of the splitter block status and detection of absence of polling
Heartbeat object: Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
Supported
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LEXIUM LEXIUM servodrive servodrive with with integral integral CANopen CANopen link link
9-pin SUBD CANopen communication port on top panel of module
Address configuration arrows
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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LEXIUM LEXIUM servodrive servodrive with with integral integral CANopen CANopen link link
Main characteristics: Supported speeds: Address:
10, 20, 50, 125, 250, 500 Kbps or 1 Mbps
configured by switches or Unilink software
1 to 99
configured by switches or Unilink software
CAN V2.A-compliant:
Identifier on 11 bits
Allocation of identifiers:
By address
Profiles:
DS-301 “Communication profile” DS402 “Drives & motion control-Velocity Mode” DriveCom
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
Slide 57/64
LEXIUM LEXIUM servodrive servodrive with with integral integral CANopen CANopen link link
Process Data Objects = PDO The LEXIUM can control: n 2 predefined transmit PDOs n 2 predefined receive PDOs Supported transmission modes: nTransmit: Asynchronous, acyclic
nReceive: Asynchronous
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
Slide 58/64
LEXIUM LEXIUM servodrive servodrive with with integral integral CANopen CANopen link link
Supported PDO services (control): Receive PDO1: 1400 (control) = 1 word CMDD: DRIVECOM control register
Receive PDO2: 1401 (control) = 4 words ASCII channel
Transmit PDO1: 1800 (monitoring) = 1 word ETAD: DRIVECOM status word
Transmit PDO2: 1805 (monitoring) = 4 words ASCII channel Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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LEXIUM LEXIUM servodrive servodrive with with integral integral CANopen CANopen link link
Supported PDO services (implicit exchange): The communication channels are configured by the SyCon tool
8 bytes per channel
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
LEXIUM addressing on CANopen is configured by the SyCon tool
The communication channels are configured by the PL7 application via WRITE VAR according to the type of PDO required
Exchange by %MW according to PL7 configuration
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LEXIUM LEXIUM servodrive servodrive with with integral integral CANopen CANopen link link
Supported SDO services (configuration, adjustment, etc.): 1 receive SDO: 1 transmit SDO:
handling of write or read request
handling of write or read request The length depends on the SDO (Index/Sub-index) and varies from 1 to 4 bytes. LEXIUM addressing on CANopen is configured by the SyCon tool Application management of READ_VAR and WRITE_VAR requests
Gestion applicative des requêtes READ_VAR et WRITE_VAR
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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LEXIUM LEXIUM servodrive servodrive with with integral integral CANopen CANopen link link
Special Function Objects: SFO NMT services:
CANopen minimum boot-up (no dynamic allocation of identifiers)
SYNC object:
Not supported
EMCY object:
Sent in the event of a fault on the drive
Node guarding object:
Supported. Sent on polling of the splitter block status and detection of absence of polling
Heartbeat object: Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
Not supported
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Part 2: Product characteristics
CANopen CANopen Sycon Sycon master master configuration configuration software software from from HILSCHER HILSCHER
Used to generate a configuration file for the CANopen master PCMCIA card. This configuration can be imported from PL7 PRO/PL7 Junior or loaded directly from Sycon software.
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
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Part 2: Product characteristics
Junction Junction box box for for connecting connecting the the master master card card
15-pin SUBD sub-base for connecting the master PCMCIA card 9-pin SUBD sub-base for connecting the slaves on channel A
Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003
Activity indicators channels A and B
9-pin SUBD connector for connecting the slaves on channel B
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