Lenze CANopen Controller-based Automation Manual de usuario

L Ä.O5÷ä13462098Controller-basedAutomationAutomation SystemsCANopen® _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _Communication Manu

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 101 About this documentation1.4 Definition of the no

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 10014 Diagnostics14.4 System bus configurator of the

14 Diagnostics14.5 »PCAN view« for diagnostic purposes101Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 ·

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 10214 Diagnostics14.5 »PCAN view« for diagnostic pur

14 Diagnostics14.5 »PCAN view« for diagnostic purposes103Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 ·

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 10414 Diagnostics14.6 Notes regarding the visualisat

15 Parameter reference105 Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _ _ _

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 10615 Parameter reference _ _ _ _ _ _ _ _ _ _ _ _ _

Index107 Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 108Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

109Your opinion is important to usThese instructions were created to the best of our knowledge andbelief to give you the best possible support for han

2 Safety instructions11 Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _ _ _ _

LController-based Automation · CANopen® Communication Manual · KHBCANPCBAUTO · 13462098 · DMS 6.3 EN · 04/2014 · TD17Lenze Automation GmbHPostfach 10

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 123 Controller-based Automation: Central motion cont

3 Controller-based Automation: Central motion control13 Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · T

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 143 Controller-based Automation: Central motion cont

4 System bus (CAN) / CANopen15 Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 164 System bus (CAN) / CANopen4.1 CANopen (Logic) /

4 System bus (CAN) / CANopen4.2 Field devices17Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 _ _ _

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 184 System bus (CAN) / CANopen4.3 CANopen hardware f

4 System bus (CAN) / CANopen4.4 Lenze Engineering tools19Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 ·

2 Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 205Technical data5.1 General data _ _ _ _ _ _ _ _ _

5Technical data5.2 Technical data of the MC-CAN2 communication card21Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 225Technical data5.4 Bus cable length _ _ _ _ _ _ _

5Technical data5.4 Bus cable length23Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 245Technical data5.4 Bus cable length _ _ _ _ _ _ _

6 Planning the CANopen network25 Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 266 Planning the CANopen network6.1 COB-IDs acc. to

6 Planning the CANopen network6.2 Example of an overview screen27Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 286 Planning the CANopen network6.3 Device specifica

6 Planning the CANopen network6.3 Device specifications of the field devices29Lenze · Controller-based Automation · CANopen® Communication Manual · DM

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 3Contents _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 306 Planning the CANopen network6.3 Device specifica

6 Planning the CANopen network6.3 Device specifications of the field devices31Lenze · Controller-based Automation · CANopen® Communication Manual · DM

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 326 Planning the CANopen network6.4 Special case: De

7Preparing the field devices7.1 Installing field devices33Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 ·

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 347Preparing the field devices7.3 Connecting the Eng

7Preparing the field devices7.3 Connecting the Engineering PC to the Lenze Controller35Lenze · Controller-based Automation · CANopen® Communication Ma

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 368 Commissioning of the CANopen Logic bus8.1 Sample

8 Commissioning of the CANopen Logic bus8.2 Overview of the commissioning steps37Lenze · Controller-based Automation · CANopen® Communication Manual ·

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 388 Commissioning of the CANopen Logic bus8.3 Create

8 Commissioning of the CANopen Logic bus8.4 Commissioning the field devices39Lenze · Controller-based Automation · CANopen® Communication Manual · DMS

Contents4 Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 408 Commissioning of the CANopen Logic bus8.5 Creati

8 Commissioning of the CANopen Logic bus8.5 Creating a PLC program with a target system (Logic)41Lenze · Controller-based Automation · CANopen® Commun

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 428 Commissioning of the CANopen Logic bus8.6 Config

8 Commissioning of the CANopen Logic bus8.6 Configuring the communication parameters43Lenze · Controller-based Automation · CANopen® Communication Man

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 448 Commissioning of the CANopen Logic bus8.7 Import

8 Commissioning of the CANopen Logic bus8.8 Creating a control configuration (adding field devices)45Lenze · Controller-based Automation · CANopen® Co

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 468 Commissioning of the CANopen Logic bus8.8 Creati

8 Commissioning of the CANopen Logic bus8.8 Creating a control configuration (adding field devices)47Lenze · Controller-based Automation · CANopen® Co

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 488 Commissioning of the CANopen Logic bus8.8 Creati

8 Commissioning of the CANopen Logic bus8.8 Creating a control configuration (adding field devices)49Lenze · Controller-based Automation · CANopen® Co

1 About this documentation5 Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 _ _ _ _ _ _ _ _ _ _ _ _

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 508 Commissioning of the CANopen Logic bus8.9 Settin

8 Commissioning of the CANopen Logic bus8.9 Setting of CAN parameters and PDO mapping51Lenze · Controller-based Automation · CANopen® Communication Ma

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 528 Commissioning of the CANopen Logic bus8.9 Settin

8 Commissioning of the CANopen Logic bus8.9 Setting of CAN parameters and PDO mapping53Lenze · Controller-based Automation · CANopen® Communication Ma

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 548 Commissioning of the CANopen Logic bus8.9 Settin

8 Commissioning of the CANopen Logic bus8.9 Setting of CAN parameters and PDO mapping55Lenze · Controller-based Automation · CANopen® Communication Ma

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 568 Commissioning of the CANopen Logic bus8.9 Settin

8 Commissioning of the CANopen Logic bus8.10 Creating the program code for controlling the Logic field device57Lenze · Controller-based Automation · C

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 588 Commissioning of the CANopen Logic bus8.10 Creat

8 Commissioning of the CANopen Logic bus8.11 Preparing the restart59Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN ·

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 61 About this documentation _ _ _ _ _ _ _ _ _ _ _ _

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 608 Commissioning of the CANopen Logic bus8.11 Prepa

8 Commissioning of the CANopen Logic bus8.11 Preparing the restart61Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN ·

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 628 Commissioning of the CANopen Logic bus8.11 Prepa

8 Commissioning of the CANopen Logic bus8.11 Preparing the restart63Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN ·

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 648 Commissioning of the CANopen Logic bus8.12 Compi

9 Commissioning of the CANopen Motion bus65 Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 _ _ _ _

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 669 Commissioning of the CANopen Motion bus9.1 Sampl

9 Commissioning of the CANopen Motion bus9.2 Overview of the commissioning steps67Lenze · Controller-based Automation · CANopen® Communication Manual

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 689 Commissioning of the CANopen Motion bus9.3 Creat

9 Commissioning of the CANopen Motion bus9.4 Commissioning the field devices69Lenze · Controller-based Automation · CANopen® Communication Manual · DM

1 About this documentation1.1 Document history7Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 _ _ _

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 709 Commissioning of the CANopen Motion bus9.5 Creat

9 Commissioning of the CANopen Motion bus9.5 Creating a PLC program with target system (Motion)71Lenze · Controller-based Automation · CANopen® Commun

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 729 Commissioning of the CANopen Motion bus9.6 Confi

9 Commissioning of the CANopen Motion bus9.6 Configuring the communication parameters73Lenze · Controller-based Automation · CANopen® Communication Ma

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 749 Commissioning of the CANopen Motion bus9.7 Creat

9 Commissioning of the CANopen Motion bus9.7 Creating a Motion task75Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 769 Commissioning of the CANopen Motion bus9.7 Creat

9 Commissioning of the CANopen Motion bus9.7 Creating a Motion task77Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 789 Commissioning of the CANopen Motion bus9.8 Creat

9 Commissioning of the CANopen Motion bus9.8 Creating a control configuration79Lenze · Controller-based Automation · CANopen® Communication Manual · D

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 81 About this documentation1.2 Conventions used _ _

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 809 Commissioning of the CANopen Motion bus9.8 Creat

9 Commissioning of the CANopen Motion bus9.8 Creating a control configuration81Lenze · Controller-based Automation · CANopen® Communication Manual · D

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 829 Commissioning of the CANopen Motion bus9.9 Paral

9 Commissioning of the CANopen Motion bus9.9 Parallel operation of two synchronised CAN buses83Lenze · Controller-based Automation · CANopen® Communic

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 849 Commissioning of the CANopen Motion bus9.10 Sett

9 Commissioning of the CANopen Motion bus9.10 Setting SoftMotion parameters85Lenze · Controller-based Automation · CANopen® Communication Manual · DMS

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 869 Commissioning of the CANopen Motion bus9.10 Sett

9 Commissioning of the CANopen Motion bus9.11 Setting of CAN parameters and PDO mapping87Lenze · Controller-based Automation · CANopen® Communication

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 889 Commissioning of the CANopen Motion bus9.11 Sett

9 Commissioning of the CANopen Motion bus9.11 Setting of CAN parameters and PDO mapping89Lenze · Controller-based Automation · CANopen® Communication

1 About this documentation1.3 Terminology used9Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 _ _ _

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 909 Commissioning of the CANopen Motion bus9.12 Crea

9 Commissioning of the CANopen Motion bus9.14 Compiling the PLC program code91Lenze · Controller-based Automation · CANopen® Communication Manual · DM

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 9210 Mixed operation of CANopen and EtherCAT _ _ _ _

11 SM3_Drive_Lenze.lib function library93 Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 _ _ _ _ _

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 9412 Restarting the CAN bus _ _ _ _ _ _ _ _ _ _ _ _

13 Defining the minimum cycle time of the PLC project13.1 Determining the task utilisation of the application95Lenze · Controller-based Automation · C

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 9613 Defining the minimum cycle time of the PLC proj

13 Defining the minimum cycle time of the PLC project13.2 Optimising the system97Lenze · Controller-based Automation · CANopen® Communication Manual ·

Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.3 EN · 04/2014 · TD17 9814 Diagnostics14.1 Logbook of the Lenze Controller

14 Diagnostics14.2 "Status" tab of the connected field devices99Lenze · Controller-based Automation · CANopen® Communication Manual · DMS 6.