Lenze 2175 Manuale utente

Operating Instructions

EDB2175EN

00423117

Fieldbus module type 2175

DeviceNet / CANopen

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These Operating Instructions are valid for fieldbus modules with the following nameplates:

2175IB Vx. 0x

In connection with the unit series as from nameplate data:

820X E. 2x. 1x. (8201 - 8204)

820X E./C. 2x. 1x. Vxxx (8201 - 8204)

821X E. 2x. 2x. (8211 - 8218)

821X E./C. 2x. 2x. Vxxx (8211 - 8218)

822X E. 1x. 1x. (8221 - 8225)

822X E. 1x. 1x. Vxxx (8221 - 8227)

824X E. 1x. 1x. (8241 - 8246)

824X E./C. 1x. 1x. Vxxx (8241 - 8246)

82EVxxxxxBxxxXX Vx 1x 8200 vector

82CVxxxxxBxxxXX Vx 1x 8200 vector, cold plate

93XX E./C. 2x 1x (9321 - 9332)

93XX Ex 2x 1x (Servo PLC 9300)

Important:

These Operating Instructions are only valid together with the corresponding Instructions for

82XX, 82XX; 8200 vector, 93XXand 9300 Servo PLC controllers. C

What is new / what has been changed ?

Material no. Edition Important Contents

423117 2.0 07/01 TD02 1st edition

E2001 Lenze GmbH & Co KG

No part of this documentation may be copied or made available to third parties without the explicit written approval of Lenze GmbH & Co KG.

All information given in thisonline documentation has beencarefully selectedand tested for compliancewith thehardware and software described.Neverthe-

less, discrepancies cannot be ruled out. We do not accept any responsibility or liability for any damage that may occur. Required corrections will be included

in updates of this documentation.

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Contents

LBA2175 EN 2.0

1 Preface and general information 1-1...........................................

1.1 How to use these Operating Instructions 1-1................................................

1.1.1 Terminology used 1-1.........................................................

1.1.2 Conventions used 1-1.........................................................

1.2 Items supplied 1-1...................................................................

1.2.1 Legal regulations 1-2..........................................................

2 Safety information 2-1......................................................

2.1 Persons responsible for safety 2-1.......................................................

2.2 General safety information 2-1..........................................................

2.3 Layout of the safety information 2-2......................................................

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Contents

ii L

BA2175 EN 2.0

CANopen

3 Technical data 3-1.........................................................

3.1 General information 3-1...............................................................

3.2 Features 3-1.......................................................................

3.3 General data and application conditions 3-2................................................

3.4 Rated data 3-2......................................................................

3.5 Dimensions 3-2.....................................................................

3.5.1 Communication times 3-3......................................................

3.5.1.1 Processing times in the controller 3-3....................................

3.5.1.2 Telegram time 3-4..................................................

4 Installation 4-1............................................................

4.1 Components of the fieldbus module 4-1...................................................

4.2 Mechanical installation 4-2.............................................................

4.3 Electrical installation 4-3..............................................................

4.3.1 Assignment of the plug/socket connector 4-3........................................

4.3.2 Voltage supply 4-4............................................................

4.3.3 Wiring to a host 4-4...........................................................

4.4 Structure of a CAN bus system (Example) 4-5...............................................

4.4.1 CAN bus wiring 4-6...........................................................

5 Commissioning 5-1........................................................

5.1 Communication profile setting 5-1.......................................................

5.2 Controller address setting 5-2...........................................................

5.3 Baud rate setting 5-3.................................................................

5.4 Initial switch-on 5-4..................................................................

5.5 Drive enable via 2175 fieldbus module 5-5.................................................

5.5.1 Protection against uncontrolled restart 5-5..........................................

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Contents

iii

LBA2175 EN 2.0

6 Parameter setting 6-1......................................................

6.1 Structure of a CAN data telegram 6-2.....................................................

6.1.1 Identifiers 6-2...............................................................

6.1.2 Network management (NMT) 6-3.................................................

6.1.2.1 Node/life guarding 6-4...............................................

6.2 Parameter data channel 6-5............................................................

6.2.1 Structure of a parameter data telegram 6-7.........................................

6.2.2 Examples 6-10...............................................................

6.2.2.1 Parameter reading 6-10...............................................

6.2.3 Write parameter 6-11..........................................................

6.2.4 Read block parameters 6-12.....................................................

6.3 Process data channel 6-13..............................................................

6.3.1 Setpoint source selection 6-13....................................................

6.3.2 Process data transfer 6-14.......................................................

6.3.3 Process-data assignments for 82XX 6-16............................................

6.3.4 Process-data assignment for 8200 vector 6-18........................................

6.3.4.1 Control word for 82XX and 8200 vector 6-20................................

6.3.4.2 Status word for 82XX and 8200 vector 6-21................................

6.3.5 Process-data assignment for 93XX 6-22.............................................

6.3.5.1 Control word for 93XX 6-23............................................

6.3.5.2 Status word for 93XX 6-26.............................................

6.4 Implemented CANopen objects 6-28.......................................................

6.4.1 Description of implemented objects 6-30............................................

6.4.1.1 1000hex: Device type 6-30.............................................

6.4.1.2 1001hex: Error register 6-30............................................

6.4.1.3 1003hex: Pre-defined error field 6-30.....................................

6.4.1.4 1005hex: Identifier sync message 6-31....................................

6.4.1.5 1006hex: Communication cycle period 6-31................................

6.4.1.6 1008hex: Manufacturer’s device name 6-31................................

6.4.1.7 100Ahex: Manufacturer’s software version 6-32.............................

6.4.1.8 100Chex: Guard time 6-32.............................................

6.4.1.9 100Dhex: Life time factor 6-32..........................................

6.4.1.10 1010hex: Store parameters 6-32.........................................

6.4.1.11 1011hex: Restore default parameters 6-33.................................

6.4.1.12 1014hex: COB-ID emergency object 6-35..................................

6.4.1.13 1015hex: Inhibit time emergency 6-35....................................

6.4.1.14 1018hex: Identity object 6-35...........................................

6.4.1.15 1200hex / 1201hex: Server SDO parameters 6-36............................

6.4.1.16 1400hex: Receive PDO1 communication parameter 6-37.......................

6.4.1.17 1401hex: Receive PDO2* communication parameter 6-37......................

6.4.1.18 1402hex: Receive PDO3* communication parameter 6-38......................

6.4.1.19 1600hex: Receive PDO1 mapping parameter 6-39............................

6.4.1.20 1601hex: Receive PDO2* mapping parameter 6-39...........................

6.4.1.21 1602hex: Receive PDO3* mapping parameter 6-40...........................

6.4.1.22 1800hex: Transmit PDO1 parameter 6-41..................................

6.4.1.23 1801hex: Transmit PDO2* parameter 6-41..................................

6.4.1.24 1802hex: Transmit PDO3* parameter 6-41..................................

6.4.1.25 1A00hex: Transmit PDO1 mapping parameter 6-42...........................

6.4.1.26 1A01hex: Transmit PDO2* mapping parameter 6-42...........................

6.4.1.27 1A02hex: Transmit PDO3* mapping parameter 6-43...........................

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Contents

iv L

BA2175 EN 2.0

6.5 Communication-relevant Lenze codes 6-44..................................................

6.5.1 Overview 6-44................................................................

6.5.2 Description of communication-relevant Lenze codes 6-47................................

6.5.2.1 L-C1810: Software product code 6-47.....................................

6.5.2.2 L-C1811: Software date 6-47...........................................

6.5.2.3 L-C1850/L-C2350: Node address 6-47....................................

6.5.2.4 L-C1851/L-C2351: Baud rate 6-48.......................................

6.5.2.5 L-C1852/L-C2352: Master/slave operation 6-48.............................

6.5.2.6 L-C1853/L-C2353: CAN-INx/CAN-OUTx addressing 6-49.......................

6.5.2.7 L-C1854/L-C2354: Selective CAN-IN/CAN-OUT addressing 6-50..................

6.5.2.8 L-C1855/L-C2355: Display of resulting identifiers 6-50........................

6.5.2.9 L-C1856/L-2356: Boot-up and cycle times 6-51.............................

6.5.2.10 L-C1857/L-C2357: Monitoring time 6-52...................................

6.5.2.11 L-C1859/L-C2359: Display of DIP-switch position 6-52........................

6.5.2.12 L-C1860: Display of current DIP-switch position 6-53.........................

6.5.2.13 L-C1867/L-C2367: Sync Rx identifier 6-53.................................

6.5.2.14 L-C1868/L-C2368: Sync Tx identifier 6-53.................................

6.5.2.15 L-C1873/L-C2373: Sync rate CAN-IN1 ... CAN-IN3 6-53........................

6.5.2.16 L-C1874/L-C2374: Sync rate CAN-OUT1 ... CAN-OUT3 6-54.....................

6.5.2.17 L-C1875/L-C2375: Tx mode CAN-OUT1 ... CAN-OUT3 6-55.....................

6.5.2.18 L-C1876/L-C2376: CAN-OUT1 masks 6-56.................................

6.5.2.19 L-C1877/L-C2377: CAN-OUT2 masks 6-56.................................

6.5.2.20 L-C1878/L-C2378: CAN-OUT3 masks 6-57.................................

6.5.2.21 L-C1882/L-C2382: Monitoring response 6-57...............................

6.5.2.22 L-C2120: AIF control byte 6-57..........................................

6.5.2.23 L-C2121: AIF status byte 6-58..........................................

6.6 Notes to be observed for paramater setting 6-59..............................................

6.6.1 8200 controllers 6-59..........................................................

6.6.2 8200 vector controllers 6-59.....................................................

6.6.3 9300 servo PLC 6-60...........................................................

7 Troubleshooting and fault elimination 7-1.......................................

7.1 No communication with the controller 7-1..................................................

8 Table of keywords 8-1......................................................

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Contents

LBA2175 EN 2.0

DeviceNet

9 Technical data 9-1.........................................................

9.1 General information 9-1...............................................................

9.2 Features 9-1.......................................................................

9.3 General data and application conditions 9-2................................................

9.4 Rated data 9-2......................................................................

9.5 Dimensions 9-2.....................................................................

9.5.1 Communication times 9-3......................................................

9.5.1.1 Processing times in the controller 9-3....................................

9.5.1.2 Telegram time 9-5..................................................

9.5.1.3 Maximum bus length 9-5.............................................

10 Installation 10-1............................................................

10.1 Components of the fieldbus module 10-1...................................................

10.2 Mechanical installation 10-2.............................................................

10.3 Electrical installation 10-3..............................................................

10.3.1 Selection of the transmission cable 10-3............................................

10.3.2 Assignment of the plug/socket connector 10-3........................................

10.3.3 Voltage supply 10-4............................................................

10.3.4 Wiring to a host 10-4...........................................................

10.4 Features of the “thick” cable (according to DeviceNet Specification) 10-6...........................

10.5 Features of the “thin” cable (according to DeviceNet Specification) 10-7............................

11 Commissioning 11-1........................................................

11.1 Communication profile setting 11-1.......................................................

11.2 Controller address setting 11-2...........................................................

11.3 Baud rate setting 11-2.................................................................

11.4 Initial switch-on 11-3..................................................................

11.5 Drive enable via 2175 fieldbus module 11-4.................................................

11.5.1 Protection against uncontrolled restart 11-4..........................................

12 Parameter setting 12-1......................................................

12.1 Communication-relevant Lenze codes 12-6..................................................

12.1.1 Description of communication-relevant Lenze codes 12-6................................

12.1.1.1 L-C1810: Software product code 12-6.....................................

12.1.1.2 L-C1811: Software date 12-6...........................................

12.2 Notes to be observed for paramater setting 12-7..............................................

12.2.1 8200 controllers 12-7..........................................................

12.2.2 8200 vector controllers 12-7.....................................................

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Contents

vi L

BA2175 EN 2.0

13 Troubleshooting and fault elimination 13-1.......................................

13.1 No communication with the controller. 13-1.................................................

14 Appendix 14-1.............................................................

14.1 DeviceNet commissioning example 14-1....................................................

14.1.1 Integration of LENZE-EDS files into “RSNetWorx” 14-2..................................

14.1.2 Communication between PC and DeviceNet via “RSLinx” 14-5............................

14.1.3 Online connection between DeviceNet and “RSNetWorx“ 14-7.............................

14.1.4 Set scanner status 14-14.........................................................

14.1.5 Communication between PC and PLC 14-15...........................................

14.1.6 Starting of the “RSLogix 500 English” PLC program 14-17................................

14.2 Control program programming 14-19.......................................................

14.2.1 Hardware addressing 14-19.......................................................

14.2.2 Explicit messages 14-20.........................................................

14.3 Program components 14-21..............................................................

14.3.1 LAD 2-Main 14-22..............................................................

14.3.2 LAD 3 - DNET_MAIN 14-23.......................................................

14.3.3 LAD30 - LENZE_MAIN 14-24......................................................

14.3.4 LAD31 - LENZE_PIO 14-24........................................................

14.3.5 LAD32 - LENZE_EXP 14-25.......................................................

14.3.6 LAD33 - EXPL_BTW 14-26........................................................

14.3.7 LAD34 - EXPL_BTR 14-28........................................................

15 Table of keywords 15-1......................................................

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Preface and general information

DeviceNet and CANopen

1-1

LBA2175 EN 2.0

1 Preface and general information

1.1 How to use these Operating Instructions

•These Operating Instructions are intended for safety-relevant operation on and with the

module. They contain safety information which must be observed.

•All personnel working on and with the module must have these Operating Instructions

available and observe the information and notes relevant for them.

•These Instructions are only valid in combination with the Operating Instructions of the

corresponding controller. They must always be complete and in a perfectly readable state.

•These Operating Instructions describe the communication profiles CANopen and DeviceNet.

The chapter Preface and General Information and the Safety Instructions apply to both

communication profiles. Please see the header of each page.

1.1.1 Terminology used

Controller In the following, the term ”controller” is used for ”93XX servo inverters” or ”82XX frequency inverters”.

Drive system In the following the term ”drive system” is used for drive systems with fieldbus modules and other Lenze

drive components.

Fieldbus module In the following text, the term ”fieldbus module” is used for the fieldbus module type 2175

DeviceNet/CANopen.

L-Cxxxx Lenze code

Cxxxx/y Subcode y of code Cxxxx (e.g. C0410/3 = subcode 3 of code C0410)

Xk/y Terminal strip Xk/terminal y (e.g. X3/28 = terminal 28 on terminal strip X3)

(^xx-yyy) Cross reference (chapter - page)

1.1.2 Conventions used

The following conventions are used to differentiate between different types of information:

Type of information Printing Example

Names of dialog boxes, input

fields or selection lists

italics Dialog box Options

Buttons bold Click OK , to...

Menu commands bold Use the command Messages to...

If the execution of a function requires several commands, the commands are separated

from each other by arrows:

Select File WOpen , to...

1.2 Items supplied

Items supplied Important

•1 2175 fieldbus module with housing (type of protection IP20)

•

After the delivery has received, check immediately whether the items

•

•1 5-pole connector for DeviceNet and CANopen

•

liability for deficiencies claimed subsequently.

•1 Mounting Instructions

•1 floppy

•visible transport damage immediately to the forwarder

•

•visible deficiencies

incompleteness immediately to your Lenze

representative.

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Preface and general information

DeviceNet and CANopen

1-2 L

BA2175 EN 2.0

1.2.1 Legal regulations

Labelling Nameplate CE-identification Manufacturer

Lenze 2175 fieldbus modules are

unambiguously identified by their nameplates.

Conforms to the EC Low-Voltage Directive Lenze GmbH & Co KG

Postfach 101352

D-31763 Hameln

Application as

directed

2175 fieldbus module

•Operate the fieldbus module only under the conditions prescribed in these Operating Instructions.

•The fieldbus module is an accessory module and can be optionally attached to the following Lenze controllers: 820X, 821X, 822X, 8200

vector, 9300 servo 9300 servo PLC. The 2175 fieldbus module links Lenze controllers with the fast serial communication system CAN.

•The fieldbus module must be attached and electrically connected so that it complies with its function and does not cause any hazards when

attached and operated as instructed.

•Observe all notes given in chapter „Safety Instructions“ (^2-1) ).

•Please observe all information given in these Operating Instructions. This means:

– Read these Operating Instructions carefully before you start to work with the system.

– These Operating Instructions must always be available during operation of the fieldbus module.

Any other use shall be deemed inappropriate!

Liability •The information, data, and notes in these Instructions met the state of the art at the time of printing. Claims referring to drive systems

which have already been supplied cannot be derived from information, illustrations, and descriptions given in these Operating Instructions.

•The specifications, processes, and circuitry described in these Instructions are for guidance only and must be adapted to your own specific

application. Lenze does not take responsibility for the suitability of the process and circuit proposals.

•The indications given in these Operating Instructions describe the features of the product without warranting them.

•Lenze does not accept any liability for damage and operating interference caused by:

– disregarding these Instructions

– unauthorized modifications to the controller

– operating faults

– improper working on and with the controller

Warranty •Warranty conditions: see Sales and Delivery Conditions of Lenze GmbH & Co KG.

•Warranty claims must be made to Lenze immediately after detecting the deficiency or fault.

•The warranty is void in all cases where liability claims cannot be made.

Disposal Material recycle dispose

Metal D-

Plastic D-

Assembled PCBs -D

Short Instructions/Operating Instructions D

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