Schneider Altivar312 Manual(4)
Contents
1. 3 Supply for RS232 RS485 converter or a remote terminal BBV52819 09 2009 Configuration Configuration of the CANopen communication functions of the Altivar 312 can be accessed from the COMMUNICATION COM menu Note The configuration can only be modified when the motor is stopped and the drive is locked Any change will only be applied after a power cycle of the drive power off then power on Parameter Possible values Terminal display Default value CANopen Address RdLU 0 to 127 Oto I21 0 10 kbits s 10 0 20 kbits s e H 50 kbits s 50 0 aer e 125 kbits s 125 0 125 kbits s 250 kbits s esop 500 kbits s 500 0 1 000 kbits s food The A d E O parameter will thereafter be referred to as Node ID in the present User s Manual The default value 0 of this parameter disables the CANopen communications of the Altivar In order to enable CANopen on the Altivar 312 you must set a non zero value for A dC J The value of the b d C O parameter must match the communication speed of all the other devices connected to the CANopen bus In addition the maximum length of the bus depends on the communication speed The following table specifies the maximum bus length when an Altivar 312 is placed on a CANopen bus depending on the actual communication speed Sau nunes Haie 10 kbits s 20 kbits s 50 kbits s 125kbits s 250kbits s 500kbits s 1 900 speed kbi2. read only access rights The index passed in the request refers to an object that does not exist in the object dictionary PDO object mapping the parameter cannot be mapped to the PDO this error occurs when writing to the 16 1600 16 1A00 16 1605 and 16 1A05 parameters PDO mappings 16 0604 0042 PDO object mapping the number and or length of the parameters to be mapped would exceed the maximum PDO length 16 0609 0011 The sub index passed in the request does not exist 16 0609 0030 Value range of parameter exceeded only for write access 16 0609 0031 Value of parameter written too high 16 0609 0032 Value of parameter written too low 16 0609 0036 The parameter maximum value is less than its minimum value 16 0800 0000 A general error has been detected 1 Please note that the Abort codes listed in this table are written in the usual representation and thus must be inverted on a byte by byte basis for the Byte 4 to 7 representation e g 16 0609 0030 becomes Byte 4 16 30 Byte 5 16 00 Byte 6 16 09 Byte 7 16 06 Important notes regarding the SDO service Note Do not use SDO write requests on the parameters included in the Transmit PDOs you have configured under SyCon For the Transmit PDO 1 this constraint applies to Control word CMDD For the Transmit PDO 6 Control word CMDD and Velocity reference LFRD are both configured by default If you rep
3. 22 BBV52819 09 2009 Software setup with PL7 and SyCon Creating a CANopen network under SyCon Select the New command from the File menu to create a new configuration Select fieldbus X and select the CANopen fieldbus type This command creates an empty network segment in the SyCon main window InterBus PROFIBUS Cancel In the present User s manual we shall immediately save this configuration and name it ATV312 Software Setup Example co Selecting and adding the CANopen master PLC Select the Master command from the Insert menu or click on the button Insert Master Available devices Selected devices T5 CPP 100 XU tz The Insert Master window will then appear Select the TSX CPP 110 or TSX CPP 100 sau All sau master device then click on Add gt gt Bemove You can edit the Node ID and the Description er er of this master in this same window Node ID address fi Description T5X Premium CPP 1 10 Click on OK to return to the SyCon main window The master we selected appears in first position z SyCon C Program Files Schneider SyCon Project ATY 71 Software Setup Example co s File Edit View Insert Online Settings Window Help oela TSX_Premium_CPP_110 Node ID 1 Master TSX CPP 110 For Help press F1 CANopen Config Mode BBV52819 09 2009 23 Software setup with PL7 and
4. PL7 PRO establishes a direct correspondence between the data of each CANopen node and its equivalent MW input and output words To review the Altivar 312 I O click on the Bus configuration button This will reveal the CAN open bus Configuration m slaves CANopen Equipment Name Act Life T Parameter Symbol 4 CANopen bus configuration window displayed Etad status w here ATV3 1 2000 Mit Riftd_actual_freq Selecting the ATV312 CANopen slave ATV31 in the example below pets Addr 0002 will display the input and output words Parameter Symbol 1 i m EC configured for this sole node MW Lfrd_freq_ret SER Ed Here on the right explicit symbols have been E assigned beforehand to the MWO through MW3 ELCPTEEENEETHAERNRE words so that you can figure how these words have MT been linked to the PDOs mapped under SyCon Equip Name arvat vendor Name TELEMECANIQUE Description Altivar31_Drive COB D JEMCY 130 THPDO 642 Total Nb slaves Mb MW Inputs Nb Mw Outputs fx 01 E E N B These allocations are only valid if the Altivar 312 is the only slave on the CANopen bus and you do use the two PDOs of PDO 6 with their default mapping If you configure other slaves on the same fieldbus or if you alter the PDO configuration of the Altivar 312 the previously described input and output words allocation would be different S
5. ETAD 16 xx21 23 Ready to switch on Switched on IF SMW5 16 0021 OR SMW5 16 0023 THEN SMW2 16 000F Control word CMDD 16 000F Enable operation MW3 1500 Velocity reference LFRD 1 500 rotations per minute START TMO Starts the forward reverse timer END IF Status word ETAD 16 xx27 Operation enabled IF SMW5 16 0027 THEN Forward reverse timer elapsed IE STMO O THEN Control word CMDD Forward lt gt Reverse IF MW2 X11 THEN RESET MW2 X11 ELSE SET MW2 X11 END IF Makes sure the DRIVECOM status does not change SMW2 SMW2 OR 16 000F Maintains Velocity reference LFRD at 1 500 rpm SMW3 1500 Re starts the forward reverse timer DOWN TMO START TMO END IF END IF The main purpose of this example is to Start the Altivar 312 according to the drive state chart Alternate speed forward and reverse at 1500 rpm during timer TMO It uses the following memory objects Etad status w DRIVECON status word Mw WORD Rfrd actual freq ODRIVECOM actual speed Em MW2 WORD Cmdd_controlw DRIYECOM control word Lfrd freq ref DRIVECON reference speed aee io gt i zMW5 WORD Masked_etad Masked DRIVECOM status word 30 BBV52819 09 2009 Description of the services This chapter describes the various CANopen services of the drive listed in accordance with their increasing COB IDs Any data whose
6. Other services Default assignment of identifiers COB IDs based on address NMT service Start Remote Node 16 01 Stop Remote Node 16 02 Enter Pre Operational 16 80 Reset Node 16 81 Reset Communication 162282 Acceptance of broadcast on COB ID 0 Heartbeat object Node guarding object Emergency object EMCY SYNC service for the second set of PDOs PDO 6 Service not available Time stamp object TIME Address on the bus Node ID Node ID address of the drive on the CANopen bus Client designates an entity that transmits a telegram destined to the variable speed drive example PLC 20 BBV52819 09 2009 Software setup Description of the supported identifiers COB IDs Identifiers will be referred to by their COB ID etc in the removing sections of this user s manual Direction COB ID Description Client c Drive 0 162000 Network ManagemenT service NMT Client gt Drive 128 16 080 SYNChronisation service SYNC Client gt Drive 128 Node ID EMergenCY service EMCY 16 080 3 F 384 PaT Client a Drive 16 180 Node ID Drive monitoring transmitted PDO of PDO 1 f 512 Client c Drive Node ID Drive control received PDO of PDO 1 1632200 640 xot Client a Drive 16 280 Node ID Drive and motor monitoring transmitted PDO of PDO 6 768 Client gt Drive 16 300 Node ID Drive and motor control receiv
7. Standardised device profile area 16 A000 16 FFFF Reserved for further use BBV52819 09 2009 45 Object dictionary Objects from the communication profile area This area contains the communication specific parameters for the CANopen network All entries that appear here are common to ALL CANopen devices Index Sub index Access Type Default value Description Device type 16 1000 16 00 RO Unsigned 32 16 00010192 Bits 16 23 Device type mode 1 Bits 0 15 Device profile number 402 16 1001 16 00 RO Unsigned 8 16 00 Error register Error 1 or no error 0 Number of errors No error 0 or one or more 16 00 RW Unsigned 8 16 00 errors gt 0 in object 16 1003 only the value 0 can be written 16 1003 Standard Error Field 16 01 RO Unsigned 32 16 00000000 Bits 16 31 Additional information all Os Bits 0 15 Error code COB ID SYNC message 16 1005 16 00 RW Unsigned 32 16 00000080 You should not modify this object value 16 1008 16 00 RO Visible String ATV312 Manufacturer device name 16 100A 16 00 RO Visible String 0301 Manufacturer software version The value given here is only an example V3 1 Node ID This object receives the value of the Node 16 100B 16 00 RO Unsigned 32 Node ID ID configured for the Altivar 312 Guard Time By default the Node Guarding 16 100C 16800 i Unsigned 16 16 0000 Protocol is inhibited the unit of this object
8. Write 50 0 Read Write 100 0 one PDO Read Write 50 10 Read Write 100 10 38 BBV52819 09 2009 Description of the services SDO service COB ID 16 580 Node ID 16 600 Node ID Request Client Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Sic Request Object index Object sub Request data Node ID code LSB MSB index Bits 7 0 Bits 15 8 Bits 23 16 Bits 31 24 Response Client lt Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 sen Response Object index Object sub Response data Node ID code LSB MSB index Bits 7 0 Bits 15 8 Bits 23 16 Bits 31 24 Depending on the Request code and the Response code the contents of Request data and Response data may vary This is summarised in the following two tables Request code Command description Byte 4 Byte 5 Byte 6 Byte 7 16 23 Write a 4 byte data Bits 7 0 Bits 15 8 Bits 23 16 Bits 31 24 16 2B Write a 2 byte data Bits 7 0 Bits 15 8 16 00 16 00 16 2F Write a 1 byte data Bits 7 0 16 00 16 00 16 00 16 40 Read data 16 00 16 00 16 00 16 00 16 80 Abort the current SDO command 1 16 00 16 00 16 00 16 00 Response code Response description Byte 4 Byte 5 Byte 6 Byte 7 16 43 Read data 4 byte data 1 Bits 7 0 Bits 15 8 Bits 23 16 Bits 31 24 16 4B Read data 2 byte data 1 Bits
9. and 7 the PDO data length will be 6 bytes instead of 8 bytes Example The two default objects are kept 6041 0 and 6044 0 but bytes 4 and 5 are mapped on the Motor current LCR object 2002 4 and bytes 6 and 7 are mapped on the Motor torque OTR object 2002 9 thus resulting in the following mapping COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 640 Status word ETAD Velocity actual value RFRD Motor current LCR Motor torque OTR 16 280 Node ID LSB MSB LSB MSB LSB MSB LSB MSB Now we consider an Altivar 312 located at CANopen address 4 COB ID 16 280 4 with the following status Current state equal to Operation Enabled and without any detected faults Status word ETAD 16 xxx7 In the current example Status word ETAD is equal to 16 0607 Velocity actual value RFRD equal to 1500 rpm 16 05DC Motor current LCR equal to 4 0 A 16 0028 Motor torque OTR equal to 83 16 0053 The corresponding sent frame for this monitoring PDO should be as follows 8 data bytes 16 284 16 07 16 06 16 DC 16 05 16 28 16 00 16 53 16 00 36 BBV52819 09 2009 Description of the services Control PDO 6 COB ID 16 300 Node ID User defined mapping Client Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 paar varane Aluvar anes Altivar variable Altivar
10. is 1 ms 16 100D 16 00 RW Unsigned 8 16 00 Life Time Factor Multiplier applied to the Guard Time in order to obtain a Life Time 163200000700 Node Guarding Identifier COB ID used for the SENDE 16 00 RY Unsigned 32 Node ID Node Guarding Protocol 16 100F 16 00 RO Unsigned 32 16 00000001 Number of SDO supported 1654200000080 COB ID Emergency message COB ID used for 16821014 16400 RO Unsigned 32 Node ID the EMCY service 165200 RO Unsigned 8 16401 Consumer Heartbeat Time Number of entries Consumer Heartbeat Time 1634016 Bits 16 23 Node ID of the producer 16401 RW Unsigned 32 16400000000 Bits 0 15 Heartbeat time unit 1 ms N B Only one heartbeat producer can be configured here By default no producer is monitored Producer Heartbeat Time The unit of this object is 1621017 165200 RW Unsigned 16 1640000 1 ms By default the Altivar 312 sends no Heartbeat messages 164200 RO Unsigned 8 16401 Identity object Number of entries 16211018 j act Thi i 46401 RO Unsigned 32 16 0000005F Identity object Vendor ID This value is unique for each manufacturer 46 BBV52819 09 2009 Object dictionary Index Sub index Access Type Default value Description 16 00 RO Unsigned 8 16 02 Server SDO Number of entries 16 00000600 i 16 1200 16 01 RO Unsigned 32 Node ID Server SDO COB ID Client gt Drive receive 16 02 RO Unsigned 32 een Ser
11. length exceeds one byte is set LSB first and MSB last in a CANopen frame Control of the NMT state machine COB ID 16 000 Frame description Client Drive COB ID Byte 0 Byte 1 0 Command Specifier Node ID 16 000 CS 1 1 If Node ID 0 the Command Specifier is broadcasted to all CANopen slaves Altivar 312 included each one must then execute this NMT command thus passing the corresponding transition see below Command Specifier CS Meaning 1 16 01 Start_Remote_Node 2 16 02 Stop_Remote_Node 128 16 80 Enter_Pre Operational_State 129 16 81 Reset_Node 130 16 82 Reset_Communication Example Transition to Pre Operational state Enter_Pre Operational_State 16 80 of the Altivar 312 located at CANopen address 4 16 04 16 000 16 80 16 04 BBV52819 09 2009 31 Description of the services Network management state chart NMT State Machine Power on or hardware reset Power on or hardware reset N x 8 Reset Node Transition Description 1 At Power on the initialisation state is entered autonomously 2 Once initialisation is finished the Pre Operational state is automatically entered 3 6 Start Remote Node 4 7 Enter Pre Operational State 5 8 Stop Remote Node 9 10 Reset Communication Depending on the communication
12. state Initialising on 16400 The only data byte sent in a bootup protocol frame is always equal to 16 00 Node guarding protocol Description The monitoring of the communication between the Client the NMT master and the Drive is either achieved using the Node Guarding protocol described here or with the Heartbeat protocol described thereafter Only one of these two protocols may be active at any given time Client Drive The Client polls the drive and any other NMT slave at regular time intervals using remote transmit requests Each NMT slave is assigned a specific time period for this poll called life time Its value may be changed via the two parameters guard time 16 100C 16 00 and life time factor 16 100D 16 00 The life time is given by the guard time multiplied by the life time factor By default the Node Guarding Protocol is inhibited on the Altivar 312 the guard time and life time factor parameters are both set to 0 Client Drive COB ID Byte 0 1792 16 700 len Node ID The response of the Drive contains its NMT state in the NMT information field described here Bit 7 Toggle bit the value of this bit must alternate between two consecutive responses from the Drive The value of the toggle bit ofthe first response after the node guarding protocol becomes active is 0 It is only reset to 0 when a Reset Communication comman
13. variable 768 default Control word default Velocity reference 1635300 CMDD LERD default no object default no object Node ID LSB MSB LSB MSB LSB MSB LSB MSB In order to modify the mapping of the second control PDO under SyCon you will have to double click on the Receive PDO 6 parameter item once you have added it to the Configured PDOs section This will open the PDO Contents Mapping Object Index 1605 window You will then have to add remove items from the upper Mapable Objects from EDS file section to the lower Mapped Object dictionary section This is done via the two Append Object and Delete mapped Object buttons Once you have finished modifying the mapping of the Receive PDO 6 parameter validate or cancel the changes using the OK or Cancel button N B Any byte left vacant at the end of this PDO will not be sent on the bus by the Client i e if no parameter is assigned to Bytes 6 and 7 the PDO data length will be 6 bytes instead of 8 bytes Example The first default object is kept 6040 0 but the second default object 6044 0 is replaced with Acceleration time ACC 203C 2 and bytes 4 and 5 are mapped on the Deceleration time DEC 203C 3 thus resulting in the following mapping COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 768 Control word CMDD Acceleration time ACC Deceleration time DEC
14. 16 300 Node ID LSB MSB LSB MSB LSB MSB Now we consider an Altivar 312 located at CANopen address 4 COB ID 16 300 4 and controlled as follows Enable operation command Control word CMDD 16 xxxF in the current example Control word CMDD is equal to 16 000F Acceleration time ACC at 1s 10 16 000A Deceleration time DEC at 2s 20 16 0014 The corresponding received frame for this control PDO should be as follows 6 data bytes 16 304 16 0F 16 00 16 0A 16 00 16 14 16 00 BBV52819 09 2009 37 Description of the services Summary table Transmission type Word 1 Word 2 Word 3 Word 4 Mapping pou synchronously COB ID asynch cyclic acyclic Activated Transmit Status word _ _ _ Not 384 _ _ V PDO 1 ETAD modifiable 16 00000180 Node ID Activated Receive Control word _ Not 512 _ _ V PDO 1 CMDD modifiable 16 00000200 Node ID Velocit Deactivated Transmit Status word actual oe Default Default Modifiable 640 V V V PDO 6 ETAD i i no object no object 16 80000280 RFRD Node ID Velocit Deactivated Receive Control word m Default Default Modifiable 768 V V v PDO6 CMDD i no object no object 16 80000300 LFRD Node ID Inhibit time ms Event timer ms Access Default value Minimum value Access Default value Minimum value ial PDO Read
15. 3 tapping screw tightening torque 0 7 to 0 8Nm 5 Stick the new cabling label on the reverse side of the ATV312 front cover 6 Stick the CANopen daisy chain card nameplate near the ATV312 nameplate Be careful not to cover slits on the ATV312 enclosure Note To install or remove the terminal board make it slide in or out in parallel with board to avoid mechanical stress on the board BBV52819 09 2009 9 Hardware setup CANopen daisy chain option VW3A31208 Description of the terminals CANopen CANopen Modbus Control terminals characteristics Terminal Function Electrical characteristics COM Analog I O common OV Analog bipolar voltage input 10 V Al2 Analog voltage input impedance 30 ko maximum safe voltage 30 V Power supply for the 10 V 8 0 10V reference potentiometer 10 mA max 2 2 to 10 ko protected against short circuits and overloads AI3 Analog current input Analog current input X Y mA by programming X and Y from 0 to 20 mA impedance 2500 24V Logit input power suppi e 24 V protected against short circuits and overloads min 19 V max 30 V g put p PPY Maximum customer current available 100 mA LI1 Programmable logic inputs LI2 Impedance 3 5 ko 24V internal or 24 V external power supply min 19 V max 30 V Logie inputs Max current 100 mA 9 P Max sampling time 4 ms LI3 Source position Positive log
16. 7 0 Bits 15 8 16 00 16 00 16 4F Read data 1 byte data 1 Bits 7 0 16 00 16 00 16 00 16 60 Write a 1 2 4 byte data response 16 00 16 00 16 00 16 00 16 80 Error response abort code returned 2 Bits 7 0 Bits 15 8 Bits 23 16 Bits 31 24 1 If you use the SDO service to read a multi byte data such as the manufacturer device name parameter 16 1008 16 00 a segmented transfer will be initiated between the Client and the Drive The 16 80 Request code is designed to stop this kind of transfer 2 The response data bytes 4 to 7 corresponds to a 32 bit abort code the full listing of all Altivar 312 supported abort codes are described in the table below Note Segment transfer only applies for information with a size that exceeds 4 bytes It only occurs for Manufacturer device name object 16 1008 BBV52819 09 2009 39 Description of the services Abort code 1 16 0503 0000 16 0504 0000 Description Segmented transfer the toggle bit has not been alternated The SDO protocol timed out 16 0504 0001 16 0601 0000 The request code is not valid or is unknown An access fault has been detected during access to the parameter e g a write request on a read only parameter 16 0601 0001 Tried to perform a read request on a parameter with write only access rights 16 0601 0002 16 0602 0000 16 0604 0041 Tried to perform a write request on a parameter with
17. BBV52819 Altivar 312 Variable speed drives for asynchronous motors CANopen communication manual 09 2009 Schneider www schneider electric com ES Electric Contents Important Information 4 Before you begin 5 Documentation structure 6 Presentation 7 Hardware setup CANopen daisy chain option VW3A31208 8 Hardware setup CANopen tap option VW3CANTAP2 12 Configuration 17 Signalling 18 Software setup 19 Software setup with PL7 and SyCon 22 Description of the services 31 Object dictionary 45 BBV52819 09 2009 3 Important Information NOTICE Read these instructions carefully and look at the equipment to become familiar with the device before trying to install operate or maintain it The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists which will result in personal injury if the instructions are not followed this symbol to avoid possible injury or death A DANGER DANGER indicates an imminently hazardous situation which if not avoided will result in death or serious injury N This is the safety alert symbol It is used to alert you to potential personal injury hazards Obey all safety messages that follow A WA
18. O1 and the set of PDO6 can be used at the same time this will be discussed in the last section of the current chapter Note If you want to use the transmitted and or received objects of the PDO 6 to the Configured PDOs under SyCon you must first uncheck the Automatic COB ID allocation in accordance with Profile 301 checkbox Should you leave this checked the COB IDs of these objects will not be correct and you will then have to manually fix them Monitoring PDO 6 COB ID 16 280 Node ID Default mapping Client Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 640 Status word ETAD Velocity actual value RFRD 16 280 Node ID LSB MSB LSB MSB Example The Altivar 312 located at CANopen address 4 COB ID 16 280 4 is in the state Operation Enabled and has no detected fault Status word ETAD 16 xxx7 In the current example Status word ETAD is equal to 16 0607 In addition the motor speed is equal to 1500 rpm 16 05DC 16 284 16 07 16 06 16 DC 16 05 Control PDO 6 COB ID 16 300 Node ID Default mapping Client Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 768 Control word CMDD Velocity reference LFRD 16 300 Node ID LSB MSB LSB MSB Example The Altivar 312 located at CANopen address 4 COB ID 16 300 4 receives the command called Enable operation Control word CMDD 16 xxxF In the current examp
19. R 0 1 SYS SDO 16 0000100C 4 MW1000 1 MW20 4 WRITE VAR ADR 0 1 SYS SDO 16 0000100D 4 3MW1001 1 sMW20 4 BBV52819 09 2009 43 Description of the services Heartbeat protocol Description As an alternative to the Node Guarding protocol described in the previous chapter the heartbeat protocol can be used to monitor the communication between a Client and the Drive Only one of these two protocols may be active at any given time Contrary to the Node Guarding Protocol the Heartbeat Protocol does not require the Client to send frames not even remote frames to any device Client Drive COB ID Byte 0 1792 16 700 Be Aiea Node ID Instead each Heartbeat Producer transmit a heartbeat message cyclically see above and any Heartbeat Consumer receives this message and checks it arrives within a maximum given time Two parameters are used to configure this relationship consumer heartbeat time 16 1016 16 01 and producer heartbeat time 16 1017 16 00 By default the Heartbeat Protocol is inhibited on the Altivar 312 the consumer heartbeat time and producer heartbeat time parameters are both set to 0 The Heartbeat message from the Drive contains a Heartbeat producer status field described here Bit 7 reserved this bit is always set to 0 Bits 6 0 Heartbeat producer state Current state of the Altivar 312 Bootup 16 00 Stop
20. RNING WARNING indicates a potentially hazardous situation which if not avoided can result in death serious injury or equipment damage 4 CAUTION CAUTION indicates a potentially hazardous situation which if not avoided can result in injury or equipment damage CAUTION CAUTION used without the safety alert symbol indicates a potentially hazardous situation which if not avoided can result in equipment damage PLEASE NOTE The word drive as used in this manual refers to the controller portion of the adjustable speed drive as defined by NEC Electrical equipment should be installed operated serviced and maintained only by qualified personnel No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this product 2009 Schneider Electric All Rights Reserved 4 BBV52819 09 2009 Before you begin Read and understand these instructions before performing any procedure with this drive A A DANGER HAZARD OF ELECTRIC SHOCK EXPLOSION OR ARC FLASH Read and understand this manual before installing or operating the Altivar 312 drive Installation adjustment repair and maintenance must be performed by qualified personnel The user is responsible for compliance with all international and national electrical code requirements with respect to grounding of all equipment Many parts of this drive including the printed circuit boar
21. SyCon Select the CANopen master and run the Bus Parameter command from the Settings menu in order to configure the Master Node ID fi CANopen network baud rate Baudrate 1 eee B ema The other settings featured by the Bus Parameter window will not Ero M be discussed here Please refer to the online help or documentation of SyCon if you need more information on Bus Parameter features r Synchronisation Object SYNC COB ID 128 Communication Cycle Period 100 msec N B Should you use the PDO 6 of the Altivar 312 and configure it in synchronous mode cyclic or acyclic you should also p Heartbeat Function consider adjusting the Communication Cycle Period which Ts Enable default value is equal to 100 ms as shown in the adjacent window Mester Producer Heartbeat lime 200 msec v Enable Global Start Node 29 Bit Selection entries Enable 29 Bit Selector 28 0 Bit Acceptance Code 00 00 00 00 Hex Acceptance Mask o0 o0 o0 00 Hex Adding the Altivar 312 EDS files to the CANopen devices managed by SyCon The EDS file that describes the Altivar 312 must be imported under SyCon so that it includes it in its devices database This file is called TEATV31_01xyyE eds x major revision y minor revision E English To import that file under SyCon run the Copy EDS command from the File menu and select the EDS file aforement
22. an only be added once to the Configured PDOs section no duplicate is allowed 3 Manually set the COB ID of any PDO 6 parameter you selected The COB ID of Transmit PDO 6 is always equal to 162280 640 Node ID and the COB ID of Receive PDO 6 is always equal to 16 300 768 Node ID If you configure one or both PDO 1 parameters please note that the default values of their COB IDs are correct and should not be modified 4 The mapping of each PDO 6 parameter can be modified By clicking on the PDO Contents Mapping button the contents of the currently selected configured PDO are displayed in a specific window where the objects already mapped can be deleted and available objects can be appended to them up to a limit of 4 objects per PDO This feature must not be used with any PDO 1 parameter because their mapping is static 26 BBV52819 09 2009 Software setup with PL7 and SyCon 5 Configure the Error Control Protocol of the Altivar 312 By clicking on the Configuration Error Control Protocol button you will be allowed to choose which control protocol to apply to the Altivar 312 Node Guarding Protocol or Heartbeat Protocol Node Guarding Protocol If this protocol is selected the two parameters Guard Time and Life Time Factor are used to generate a Life Time duration Please refer to chapter Node guarding protocol page 42 for more details on this topic e g in our examp
23. d 1 second OFF v g The LED is BLINKING at 2 5 Hz T 200 ms ON and 200 ms OFF The LED is ON BBV52819 09 2009 Software setup Profiles Communication profile The communication profile of Altivar 312 is based on CAN 2 A The CANopen specification DS301 V4 02 Simplified structure of the telegram Identifier 11 bits COB ID For more information log on the Can In Automation Web site http www can cia de Identifier 11 bits a User data maximum length of 8 bytes COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Functional profile The functional profile of the Altivar 312 complies with Device profile for drives and motion control DSP 402 V2 0 Velocity Mode Drivecom profile 21 Drivecom and CANopen DSP402 are compatible BBV52819 09 2009 Software setup Available services PDO Process Data Objects PDO telegrams are used to exchange real time data related to the process PLCs refresh their inputs and outputs cyclically through PDOs periodic variables The Altivar 312 features two sets of predefined PDOs The first set of PDOs PDO 1 mandatory for all modes includes one received PDO used to control Control word CMDD the drive one transmitted PDO used to monitor Status word ETAD the drive PDO 1 are asynchronous and the transmitted PDO is only sent when the value of its data changes The s
24. d is passed to the Drive see chapter Network management state chart NMT State Machine page 32 If a response is received with the same value of the toggle bit as in the previous response then the new response is handled as if it was not received Bits 6 0 NMT state Current NMT state of the Altivar 312 Stopped 16 04 Operational 16 05 or Pre Operational 16 7F If the Drive does not transmit its response or if it transmits an incorrect state the Client triggers a Node Guarding event If after its life time has elapsed the Drive does not receive any polling it triggers a Life Guarding event the drive will display OF CANopen communication fault and sends an emergency telegram EMCY 42 BBV52819 09 2009 Description of the services Example of node guarding protocol setup As described earlier the life time of the Altivar 312 may be modified using the SDO service in order to write new values for its guard time and life time factor parameters Parameter Index Sub index Format Unit Guard time 16 100C 16 00 16 bit unsigned integer 1 ms Life time factor 16 100D 16 00 unsigned byte In the current example we will configure a life time of 2 seconds with a guard time of 500 ms and a life time factor equal to 4 500 ms x 4 2 s 1 Setting up the guard time to 500 ms COB ID 16 600 Node ID for the write request or 16 580 Node ID for the write r
25. ds operate at the line voltage DO NOT TOUCH Use only electrically insulated tools DO NOT touch unshielded components or terminal strip screw connections with voltage present DO NOT short across terminals PA and PC or across the DC bus capacitors Before servicing the drive Disconnect all power including external control power that may be present Place a DO NOT TURN ON label on all power disconnects Lock all power disconnects in the open position WAIT 15 MINUTES to allow the DC bus capacitors to discharge Measure the voltage of the DC bus between the PA and PC terminals to ensure that the voltage is less than 42 Vdc If the DC bus capacitors do not discharge completely contact your local Schneider Electric representative Do not repair or operate the drive Install and close all covers before applying power or starting and stopping the drive Failure to follow these instructions will result in death or serious injury A DANGER UNINTENDED EQUIPMENT OPERATION Read and understand this manual before installing or operating the Altivar 312 drive Any changes made to the parameter settings must be performed by qualified personnel Failure to follow these instructions will result in death or serious injury A WARNING DAMAGED DRIVE EQUIPMENT Do not operate or install any drive or drive accessory that appears damaged Failure to follow these instructions can result in death seri
26. eceive PDO 3 Define new Transmit PDO Delete configured PDO Symbolic Names These operations are summarised here 1 Disable the Automatic COB ID allocation in accordance with Profile 301 option by unchecking the associated checkbox please note that this is only useful and mandatory in this case if you intend to use one or both of the PDO 6 parameters If you don t plan to use any of the two PDO 6 parameters leave this box checked 2 Add PDOs to Configured PDOs For each PDO that you wish to add to the Configured PDOs section select it in the Predefined Process Data Objects PDOs from EDS file section then click on the Add to configured PDOs button or double click on the PDO entry Before adding the PDO to the Configured PDOs section SyCon will first display a window allowing you to configure the transmission mode of this PDO For both PDO 1 you MUST NOT change the setting of their transmission mode asynchronous 255 For PDO 6 you can configure a Resulting CANopen specific transmission type of 0 first option 1 to 240 second option or 255 fourth and last option which correspond respectively to acyclic synchronous cyclic synchronous and asynchronous transmission modes As explained in chapter Important notes regarding the SDO service page 40 you may mix PDO 1 and PDO 6 parameters Please refer to this chapter if you wish to do so Any given PDO c
27. ecommended as the fieldbus configuration may be subject to changes depending on the future needs of your application The Altivar 312 may require up to 10 bytes 5 words of input data but this input size can only be reached by combining the Transmit PDO of both PDOs 2 bytes for PDO 1 and up to 8 bytes for PDO 6 with a default size of 4 bytes e g In our example we reduce the number of MW input words to 2 because the only CANopen inputs are those ofthe default mapping of the Transmit PDO 6 I Len of 4 IB as indicated under SyCon The first input word remains MWO Thus our CANopen input words are MWO and MW1 Outputs MW32 to MW63 Number of MW First MW The description of the Inputs given above holds true here but is related to the output words of the master PLC and to the output data ofthe TSX CPP 110 CANopen master PCMCIA card The Altivar 312 may require up to 10 bytes 5 words of output data but this output size can only be reached by combining the Receive PDO of both PDOs 2 bytes for PDO 1 and up to 8 bytes for PDO 6 with a default size of 4 bytes e g In our example we reduce the number of MW output words to 2 because the only CANopen outputs are those of the default mapping of the Receive PDO 6 O Len of 4 QB as indicated under SyCon In addition we allocate these output words so that they are placed just behind the input words the first output word
28. econd set of PDOs PDO 6 for velocity mode includes one received PDO used to control the drive Control word CMDD and Velocity reference LFRD in addition it can be configured to include two additional variables Control word CMDD and Velocity reference LFRD can also be replaced with any two other variables with write access rights one transmitted PDO used to monitor the drive Status word ETAD and Velocity actual value RFRD in addition it can be configured to include two additional variables Status word ETAD and Velocity actual value RFRD can also be replaced with any two other variables The communication mode of PDO 6 can be set by the user depending on their needs asynchronous as for PDO 1 or cyclic based on the reception of a synchronisation object SYNC A third mode is also possible acyclic synchronous in which the transmitted PDO is sent whenever the value of its data changes but only during the synchronous window allowed by the SYNC object In asynchronous mode Inhibit time and Event timer can be modified SDO Service Data Objects SDO telegrams are used for configuration and setup PLCs utilize acyclic messaging through SDOs The Altivar 312 manages one SDO characterised by two COB IDs one for the requests telegrams issued by the PLC and intended to the Altivar 312 one for the answers telegrams sent back to the PLC by the Altivar 312 The Altivar 312 supports segment transfer
29. ed PDO of PDO 6 1408 1 1 Client a Drive 464580 Node ID Answer to drive adjustment transmitted SDO f 1536 Client gt Drive 16 600 Node ID Request of drive adjustment receive SDO Client gt Drive Network management NMT Node Guard Heartbeat 1792 166700 Node ID Client a Drive Network management Bootup protocol The Altivar 312 supports the automatic assignment of COB IDs calculated using its CANopen address only for PDOs of PDO1 BBV52819 09 2009 21 Software setup with PL7 and SyCon Requirements and CANopen architecture The following chapters describe the steps in PL7 PRO version PL7 pro 4 5 Sycon 2 9 and SyCon version V3 0 which you will need to go through so that the Altivar 312 is correctly recognised by the CANopen master PLC The software versions used here are PL7 PRO V4 3 and SyCon V2 8 The CANopen bus which is described in the following chapters only includes one CANopen master TSX 57353 V5 1 Premium PLC TSX CPP 110 CANopen master PCMCIA card and one slave Altivar 312 So you will need to adapt the addressing of the inputs and outputs shown below IW and QW according to any other slaves on the CANopen bus which you need to configure Setting up the hardware configuration under PL7 PRO Under PL7 PRO create a new application or open an application for which you want to add a CANopen bus Edit the hardware configuration of this applica
30. en fieldbus configuration under PL7 PRO Save the CANopen configuration and give it a name Save or Save As command from the File menu This configuration is saved in a co file In the window of PL7 PRO displayed in chapter Setting up the hardware configuration under PL7 PRO page 22 click on the Select Database button and select the previously saved file e g C Program Files Schneider SyCon Project ATV312 Software Setup Example co Once you have validated your choice the Configuration Loading Mode section will be updated Note Sycon V2 8 does not disable automatically PDO1 it must be done by the application program PL7 If you wish to disable the transmitted PDO and or the received PDO of PDO 1 you must do so in the PL7 application using the SDO service in order to set the 31 of the COB ID used by PDO of the corresponding Receive Transmit PDO1 parameter object see below This will mark the PDO as being not valid However you must not modify the other 31 bits of the COB ID Index Sub index Description Enabled PDO Disabled PDO 16221400 164201 COB ID of the received PDO 1 16400000200 Node ID 16480000200 Node ID 16221800 16401 COB ID of the transmitted PDO 1 16400000180 Node ID 16 80000180 Node ID You will need to do this for example if you only use the two PDOs of PDO 6 as you will then have to disable the two PDOs of PDO 1 Example The following PL7 sample disables the rece
31. esponse Request code byte 0 16 2B for writing a 2 byte data Response code byte 0 16 60 if the write operation has been successfully carried out Object index bytes 1 and 2 16 100C Object sub index byte 3 16 00 Request data bytes 4 and 5 16 01F4 500 Request Client Drive 16 604 16 2B 16 0C 16 10 16 00 16 F4 16 01 16 00 16 00 Response Client Drive 16 584 16 60 16 0C 16 10 16 00 16 00 16 00 16 00 16 00 2 Setting up the life time factor to 4 COB ID 16 600 Node ID for the write request or 16 580 Node ID for the write response Request code byte 0 16 2F for writing a 1 byte data Response code byte 0 16 60 if the write operation has been successfully carried out Object index bytes 1 and 2 16 100D Object sub index byte 3 16 00 Request data byte 4 16 04 4 Request Client Drive 16 604 16 2F 16 0D 16 10 16 00 16 04 16 00 16 00 16 00 Response Client Drive 16 584 16 60 16 0D 16 10 16 00 16 00 16 00 16 00 16 00 Corresponding PL7 instructions in ST language SMW1000 16 01F4 Data to Send Guard Time 500 MW1001 16 04 Data to Send Life Time Factor A SMW22 50 Timeout 50 x 10 ms 500 ms SMW23 4 Data length 4 bytes SENDS the SDO WRITE commands WRITE VAR AD
32. hould this happen SyCon features a command that allows you to view the entire set of inputs and outputs execute the Address Table command of the View menu in order to do so Note Please note that SyCon displays byte addresses and byte sizes IB inputs and QB outputs You should always consider that these bytes are aligned on word addresses Hence a 1 byte object mapped into a configured PDO will actually take up a full word the 1 byte object will be allocated to the MSB byte of this word and its LSB byte becomes a spare byte The correspondence between the configured PDOs of the Altivar 312 and the PLC inputs and outputs is given in the following table PDO Type SyCon I O PL7 PRO I O Description of the mapped object IBO IB1 MWO Status word ETA Transmit PDO 6 Inputs IB2 IB3 MW1 Velocity actual value RFRD QBO QB1 MW2 Control word CMD Receive PDO 6 Outputs QB2 QB3 MW3 Velocity Setpoint LFRD BBV52819 09 2009 29 Software setup with PL7 and SyCon Example The following example of a short PL7 PRO program illustrates the configuration described in chapter Setting up the hardware configuration under PL7 PRO page 22 Masks the DRIVECOM Status Word SMW5 SMWO AND 16 00FF Status word ETAD 16 xx40 Switch on disabled IF SMW5 16 0040 THEN SMW2 16 0006 Control word CMDD 1640006 Shutdown END_IF Status word
33. ic State 0 if lt 5 V or logic input not wired state 1 if gt 11 V Sink position Negative logic State 0 if gt 19 V or logic input not wired state 1 if 13 V CLI position Connection to PLC output R2A Minimum switching capacity 10 mA for 5 Vdc Configurable relay e Maximum switching capacity on resistive load cos o 1 and L R 0 ms R2B outputs 1 relay logic 5 A for 250 Vac and 30 Vdc output one N C contact Maximum switching capacity on inductive load cos o 0 4 and L R 7 ms and one N O contact 2 A for 250 Vac and 30 Vdc R2C j D with common point Sampling time 8 ms Service life 100 000 operations at maximum switching power CANopen communication shield terminal SCR Screen This terminal is not connected to other circuits in this board Ground this terminal in a location separated from the ground of power line 10 BBV52819 09 2009 Hardware setup CANopen daisy chain option VW3A31208 CANopen and Modbus connectors Wire sizes CANopen Pin RJ 45 Signal CAN_H CAN_L CAN_GND Not connected Not connected Not connected Co SI o 01 A ew N gt Not connected Not connected Modbus Pin RJ 45 Signal Not connected Not connected Not connected D1 DO Not connected VP 1 Common 1 Reserved for RS232 RS485 converter Co SI o 01 A ew N gt ATV312 Control terminals Applicable w
34. ing diagram shows an example of four ATV 312 with each one a CANopen daisy chain module inside and connected to M340 PowerSuite or SoMove Master PLC M340 CANopen ATV 312 drop cord VW3 CAN CA RRe Modbus Line Termination TCS CAR013M120 ATV312 CANopen daisychain option card reference VW3 A31208 supplied separately provides Two RJ45 connectors allow the creation of a CANopen network by using cables equipped with RJ45 ATV 312 CANopen drop cord is a cable equipped with 2 RJ45 connectors Two lengths are available 0 3 m 0 98 ft reference VW3 CAN CA RR 03 and 1 m 3 28 ft reference VW3 CAN CA RR1 Athird RJ45 connector to connect the ATV312 with the commissioning tools like PowerSuite SoMove Bluetooth adaptor Simple loader and Multi loader or to connect Modbus devices PLC HMI etc The network termination is done by inserting on the last available RJ45 port of the last device on the network a line termination reference TCS CAR013M120 This line termination is fitted with a RJ45 to be directly inserted on the module As the VW3 A31208 replaces the base terminal card of the ATV312 it is also equipped with digital and analog lOs Note maximum bus length are divided by 2 when an Altivar 312 is placed on a CANopen bus with CANopen daisychain VW3A31208 See values page 17 Presentation CANopen CANopen BBV52819 09 2009 Hardware setup CANopen daisy chain
35. ioned You will then be prompted to choose whether or not to import the corresponding bitmap files Click on Yes to add the three Altivar 312 status icons to the bitmap database of SyCon these icons are displayed hereafter If the command completes successfully a message window will inform you that 1 EDS file and 3 bitmap files were imported CAM ATV312_s dib ATV312 r dib ATV312 d dib The eds files and icon files are available in PowerSuite CD ROM or on the Schneider Electric website www schneider electric com 24 BBV52819 09 2009 Software setup with PL7 and SyCon Selecting and adding the Altivar 312 to the CANopen fieldbus ATV31 in the example below FU the Node command from the Insert menu or click on the button Node filter rad a Vendor al Move the mouse pointer which now looks like a N to Profile All the position where you want to add the Altivar 312 then left click Available devices Selected devices B Vendor name TELEMECANIQUE Product number 0 Description Miva3t Dive 5 Product version No entry Product revision No entry EDS file name A31_E EDS EDS Revision 1 f Click on OK to return to the SyCon main window The node device we selected appears at the selected position s SyCon C Program Files Schneider SyCon ProjechATY31 co a File Edit View Insert Online Settings Window Help 8 x oela e o
36. ire size mm AWG 2 Tightening torque N m Ib in 3 R2A R2B R2C 0 75 to 1 18 to 16 Other terminals 0 14 to 0 5 26 to 20 0 5 to 0 6 4 4 to 5 3 2 The value in bold corresponds to the minimum wire gauge to permit secureness 3 Recommended to maximum value BBV52819 09 2009 11 Hardware setup CANopen tap option VW3CANTAP2 Legacy CANopen wiring solution for ATV 312 The following diagram shows an example of four ATV 312 connected to a master PLC Premium with a CANopen master PCMCIA card TSX CPP 110 Ge o Oo Master PLC TSX CPP 110 PowerSuite ATV 312 drop cord VW3 CAN CA RRe T ATV 312 CANopen tap VW3 CAN TAP 2 Modbus CANopen CANopen trunk cable trunk cable Various accessories are available from the catalog to facilitate the connection of these devices ATV 312 CANopen tap is a passive tap reference VW3CANTAP2 It can be connected on a CANopen trunk cable using the two 5 Screw terminals embedded connectors Two RJ45 connectors allow the connection of two Altivar 312 by ATV 312 CANopen drop cords One RJ45 connector is designed to interface these two Altivar 312 with PowerSuite Commissioning software tool for PC or Pocket PC If only one ATV 312 is connected on the tap it should be on the connector labelled ATV1 If two ATV 312 are connected PowerSuite can access the two drives in
37. is MW2 Thus our CANopen output words are MW2 and MW3 Outputs Reset Hold or Reset Determines whether the CANopen outputs words are held or reset to zero when the associated task see above is stopped because such a halt does not cause the TSX CPP 110 card to stop Watchdog Enabled Enabled or Disabled If this option is enabled the CANopen watchdog of the TSX CPP 110 CANopen master PCMCIA card will be triggered as soon as the card becomes unable to properly manage the CANopen bus At the same time all CANopen outputs words will be reset to 0 Configuration Loading Mode PL7 PL7 or SyCon PL7 The configuration of the CANopen bus is downloaded as part of the PL7 application software to the target master PLC If there s not enough memory left in your application for this configuration PL7 will prohibit this mode SyCon The configuration of the CANopen bus is considered as being already loaded into the PCMCIA card thus assuming it was downloaded using SyCon PL7 PRO only checks that the card configuration is identical to the contents of the co file you selected to aid in preventing any configuration mishap However any modification to the bus parameters will have to be performed under SyCon 28 BBV52819 09 2009 Software setup with PL7 and SyCon Reviewing the inputs and outputs of the CANopen master Using the information located in the selected co file
38. ission type The only 16 02 RO Unsigned 8 16 FF available mode for this PDO is asynchronous PDO sent when its data value changes 16 1800 TIE 16 03 RW Unsigned 16 30 Transmit PDO1 Inhibit ume IM time between two transmissions unit 1 ms 16404 RW Unsigned 8 Transmit PDO1 Reserved Transmit PDO1 Event timer In asynchronous 16 05 RW Unsigned 16 100 mode this object sets a minimum rate of transmission for this PDO unit 1 ms BBV52819 09 2009 47 Object dictionary Index Sub index Access Type Default value Description 16 00 RO Unsigned 8 16 05 Transmit PDO6 Number of entries 16 01 RW Unsigned 32 8600000280 Transmit PDO6 COB ID Node ID Transmit PDO6 Transmission type Three modes are available for this PDO asynchronous dus RW Unsigned 8 THE 255 synchronously cyclic 1 240 and 16 1805 synchronously acyclic 0 16 03 RW Unsigned 16 30 Transmit PDO6 Inhibit time Minimum time between two transmissions unit 0 1 ms 16 04 RW Unsigned 8 mu Transmit PDO6 Reserved Transmit PDO6 Event timer In asynchronous 16 05 RW Unsigned 16 100 mode this object sets a minimum rate of transmission for this PDO unit 1 ms 46400 RO Unsigned 8 46801 Transmit PDO1 mapping Number of mapped objects Hum T PDO1 1st d object S ransmit mapping 1 mapped object Status 16 01 RO Unsigned 32 16 60410010 word ETAD 16 6041 Tra
39. ived PDO 1 of the Altivar 312 located at address 4 MD1000 16 80000184 Data to Send Inhibition of the PDO MW500 16 1400 Logical Address Index in MD500 LSB MW501 16 0001 Logical Address Sub Index in MD500 MSB SMW22 50 Timeout 50 x 10 ms 500 ms SMW23 4 Data length 4 bytes SENDS the SDO WRITE command WRITE VAR ADR 0 1 SYS SDO MD500 4 MW1000 2 MW20 4 BBV52819 09 2009 27 Software setup with PL7 and SyCon You may also configure various options available on the CANopen master Option Default Value Possible Values Task MAST MAST or FAST Used to select the type of system task that will steer the CANopen network N B The PL7 PRO software application is also subdivided into a Mast Task and a Fast Task Bus bootup Automatic Automatic semi auto or by program Fieldbus behaviour when the CANopen master starts up Inputs MWO to MW31 Number of MW First MW Number of MW words and index of the first MW word of the master PLC on which the input data from the TSX CPP 110 CANopen master PCMCIA card will be mapped Please consult the documentation of your CANopen master and that of your master PLC in order to determine the maximum number of words that may be allocated to input words Allocating more words than what is needed is useless On the other hand allocating the lowest possible size is not r
40. lace one or both of these default parameters or if you add one or two other parameters to this PDO this restriction applies to these configured parameters Note Any parameter directly connected to one of the parameters placed under the previous restriction must not be modified using a SDO write request 40 BBV52819 09 2009 Description of the services Read example for the SDO service This example demonstrates how to read the parameter Acceleration time ACC of an Altivar 312 located at the CANopen address 4 COB ID 16 580 Node ID or 16 600 Node ID The index sub index of this parameter is equal to 16 203C 02 N B The indexes and sub indexes for all the variables of the Altivar 312 are listed in the user s manual Communication variables of the Altivar 312 Read request Client Drive The request code of a read request is 16240 162604 16 240 16 3C 16 20 16 02 16 00 16 00 16 00 16 00 Read response Client lt Drive In our current example the response code of the read response is 16 4B because the read operation was successfully performed on a 2 byte data 16 584 16 4B 16 3C 16 20 16 02 16 E8 16 03 16 00 16 00 The response frame displayed above indicates that the value of the read parameter is equal to 1000 16 03E8 which equates to an Acceleration time ACC of 100 s the unit of this parameter is 0 1s W
41. le Control word CMDD is equal to 16 000F In addition the motor speed is set to 1200 rpm 16 04B0 16 304 16 0F 16 00 16 B0 16 04 BBV52819 09 2009 35 Description of the services Monitoring PDO 6 COB ID 16 280 Node ID User defined mapping Client Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Aalal vanan AST MANES Altivar variable Altivar variable 640 default Status word default velocity actual value i 164280 ETAD RFRD default no object default no object Node ID LSB MSB LSB MSB LSB MSB LSB MSB In order to modify the mapping of the second monitoring PDO under SyCon you will have to double click on the Transmit PDO 6 parameter item once you have added it to the Configured PDOs section This will open the PDO Contents Mapping Object Index 1A05 window You will then have to add remove items from the upper Mapable Objects from EDS file section to the lower Mapped Object dictionary section This is done via the two Append Object and Delete mapped Object buttons Once you have finished modifying the mapping of the Transmit PDO 6 parameter validate or cancel the changes using the OK or Cancel button N B Any byte left vacant at the end of this PDO will not be sent on the bus by the Altivar 312 i e if no parameter is assigned to Bytes 6
42. le we configure a Guard Time of 500 ms and a Life Time Factor or 4 thus configuring a Life Time or 4 x 500 ms 2 seconds Heartbeat Protocol If this protocol is selected the master s parameter Master Guarding Time of Node 16 1016 16 xx must be greater than the node s parameter Node Heartbeat Producer Time 16 1017 16 00 If the Master Guarding Time of Node is set to O for the currently configured node the master will not check the fieldbus activity of this node N B If you wish to use the Heartbeat Protocol with your CANopen master you should first enable its Heartbeat Function in the Bus Parameter window see chapter Creating a CANopen network under SyCon page 23 Of course the CANopen master must support this protocol which is the case of the CANopen master used here TSX CPP 110 The TSX CPP 100 CANopen master PCMCIA card is an example of CANopen master that does not support this protocol In addition the Node Heartbeat Consumer List section allows you to configure the Altivar 312 to check another station made distinct by its Node ID on the bus Each station is named and its Producer Time msec is recalled for convenience By checking a box in the Active column the corresponding Node ID will be periodically checked by the Altivar 312 in this case the corresponding ConsumerTime msec must be greater than the Producer Time msec Saving and opening the CANop
43. multidrop mode The Modbus address of each drive must be different A remote terminal VW3A31101 can also be connected to the PowerSuite connector but in this case only one ATV 312 drive can be connected to the CANopen tap on the plug labelled ATV1 ATV 312 CANopen drop cord is a cable equipped with 2 RJ45 connectors Two lengths are available 0 3 m 0 98 ft reference VWS3CANCARRO03 and 1 m 3 28 ft reference VW3CANCARR1 Note Only a 0 3 m 11 8 in drop cord can be used in a CANopen network at a speed of 1 Mbits s 12 BBV52819 09 2009 Hardware setup CANopen tap option VW3CANTAP2 Description of the ATV 312 CANopen tap External view Internal view N ATVi ATV2 E C PowerSuite 1 Cover screw 2 ATV1 female RJ45 connector where the first Altivar 312 drive must be connected 3 ATV2 female RJ45 connector where the second if any Altivar 312 drive must be connected Do not use if a remote terminal is connected to the PowerSuite connector 4 PowerSuite female RJ45 connector where PowerSuite PC or Pocket PC or a remote terminal can be connected 5 Switch used to connect ON or disconnect OFF the internal line termination 120 Q 6 Lug for connecting the green yellow grounding wire T CANopen terminal blocks labelled S4 and S5 on the circuit board for wiring of the trunk cable 8 Holes for 4 screws used to mount the tap on a plate o
44. n n Premium TSX CPP 110 Node ID 1 Master TSX CPP 110 Drive Ventilator CAM 1 Node ID 2 Node ATV31 V1 7 For Help press F1 CANopen Config Mode Add gt gt In the Insert Node window that appears select the vas ATV312 device then click the Add gt gt button 4 lt lt Remove You can edit the Node ID and the Description of this node Ere in thi i A GEAR Pr ern in this same window B BBV52819 09 2009 25 Software setup with PL7 and SyCon Editing and Configuring the Altivar 312 ATV31 in the example below Double click on the line that corresponds to the Altivar 312 The Node Configuration window appears The Node Configuration window displayed below illustrates the few operations that have been done in order to configure both Received and Transmitted PDO 6 Node Configuration Node ATV31 Node ID address 2 Description Drive_of_fan Configuration Error 5 Control Protocol File name ATV31 V11 EDS V Activate node in actual configuration Emergency COBID 130 1 Automatic COB ID allocation in accordance with Profile 301 Nodeguard COBID 1794 Device Profile 402 Device type Frequency Converter Predefined Process Data Objects PDOs from EDS file Actual node PDO name 2 ATV31 Receive PDO1 parameter 3 Receive PDO6 parameter PDO mapping method Transmit PDO1 parameter sam V4 v Transmit PDOG parameter 2 Add to configured PDOs 4 PDO Characteristics Define new R
45. nsmit PDO6 mapping Number of mapped RA Unsigned 8 IPIE objects 0 to 4 objects can be mapped for this PDO Transmit PDO6 mapping 15 mapped object Status 163201 RW Unsigned 32 165260410010 word ETAD 1686041 16 1A05 Transmit PDO6 mapping 2nd mapped object velocity 16202 RW Unsigned 32 16260440010 actual value RFRD 1686044 1652203 RW Unsigned 32 16400000000 Receive PDO6 mapping No 3rd mapped object 164204 RW Unsigned 32 16400000000 Receive PDO6 mapping No 4th mapped object Objects from the Altivar 312 specific profile area The parameters of this area are not described in the present user s manual Please refer to the user s manual Communication variables of the Altivar 312 for a full description of these Altivar 312 specific parameters Objects from the standardised device profile area The parameters of this area are not described in the present user s manual Please refer to the user s manual Communication variables of the Altivar 312 for a full description of these parameters 48 BBV52819 09 2009 BBV52819 ATV312 CANopen BBV52819 02 09 2009
46. on of the services Set PDO 1 COB ID 16 180 Node ID 16 200 Node ID This set of PDO is compliant with the drive and motion profile of the DSP 402 specification It is herein referred to as PDO 1 The default settings of the communication mode of PDO 1 must not be changed and its value 255 corresponds to the default communication mode of the drive profile asynchronous with the monitoring PDO being sent by the drive whenever the value of its data change In addition the object mapping of its frames cannot be changed i e only the Control word CMDD and Status word ETAD can be exchanged between the Altivar 312 and a client Both the first monitoring PDO and the first control PDO include only two bytes of data Finally the set of PDO 1 and the set of PDO 6 can be used at the same time but only to a certain extent and under special conditions see the chapters describing these second PDOs Monitoring PDO 1 COB ID 1622180 Node ID Client Drive COB ID Byte 0 Byte 1 384 Status word ETAD 16 180 Node ID LSB MSB Example The Altivar 312 located at CANopen address 4 COB ID 16 180 4 is in the state Operation Enabled and has no error Status word ETAD 16 xxx7 In the current example Status word ETAD is equal to 16 0607 16 184 16 07 16 06 Control PDO 1 COB ID 16 200 Node ID Client Drive COB ID Byte 0 Byte 1 512 C
47. ontrol word CMDD 16 200 Node ID LSB MSB Example The Altivar 312 located at CANopen address 4 COB ID 16 200 4 receives the command called Enable operation Control word CMDD 16 xxxF In the current example Control word CMDD is equal to 16 000F 16 204 16 0F 16 00 34 BBV52819 09 2009 Description of the services Set PDO 6 COB ID 16 280 Node ID 16 300 Node ID This set of PDO is compliant with the drive and motion profile of the DSP 402 specification It is herein referred to as PDO 6 The settings of the communication mode of PDO 6 can be changed its default value 255 corresponds to the default communication mode of the drive profile asynchronous e synchronously cyclic 1 240 the drive sends the PDO once every 1 to 240 receptions of the SYNC object synchronously acyclic 0 the drive sends the PDO synchronously with the SYNC object but its transmission is only triggered by a change in the value of its data Available only for the Transmit PDO6 Moreover the object mapping of the frames of the set PDO 6 can be changed Their default mapping include the Control word CMDD Velocity reference LFRD Status word ETAD and Velocity actual value RFRD and these will be presented first Then an example of object mapping will be given for the PDO 6 in order to illustrate the possibilities of mapping for this PDO Finally the set of PD
48. option VW3A31208 Receipt Check that the card catalog number marked on the label is the same as that on the delivery note corresponding to the purchase order Remove the option card from its packaging and check that it has not been damaged in transit Installing the card in the drive A DANGER UNINTENDED EQUIPMENT OPERATION Do not plug or unplug the terminal board while drive is powered Check the tightening of the fixing screw after any manipulation on the terminal board Failure to follow these instructions will result in death or serious injury A A DANGER HAZARD OF ELECTRIC SHOCK EXPLOSION OR ARC FLASH Do not touch the terminal board before removing power on the drive removing any voltage on input and output terminals Failure to follow these instructions will result in death or serious injury Install the CANopen daisy chain card in ATV312 as follows poe v oo is 1 Open the ATV312 front cover 2 Remove the terminal board fixing screw and take off the ATV312 standard terminal board Be careful not to lose the terminal board fixing screw when removed since it may be used again This step does not apply if you are using an ATV312 B product without standard IO terminal 3 Perform wiring before installing CANopen daisy chain card 4 Install the CANopen daisy chain card and secure it with the board fixing screw M
49. ous injury or equipment damage A WARNING LOSS OF CONTROL The designer of any control scheme must consider the potential failure modes of control paths and for certain critical control functions provide a means to achieve a safe state during and after a path failure Examples of critical control functions are emergency stop and overtravel stop Separate or redundant control paths must be provided for critical control functions System control paths may include communication links Consideration must be given to the implications of unanticipated transmission delays or failures of the link Failure to follow these instructions can result in death serious injury or equipment damage a For additional information refer to NEMA ICS 1 1 latest edition Safety Guidelines for the Application Installation and Maintenance of Solid State Control and to NEMA ICS 7 1 latest edition Safety Standards for Construction and Guide for Selection Installation and Operation of Adjustable Speed Drive Systems BBV52819 09 2009 5 Documentation structure The following Altivar 312 technical documents are available on the Schneider Electric website www schneider electric com as well as on DVD ROM reference VW3A8200 Installation manual This manual describes how to install and wire the drive Programming manual This manual describes the functions parameters and use of the drive terminal integrated di
50. ped 16 04 Operational 16 05 or Pre Operational 16 7F A Heartbeat Consumer does cyclically check the reception of the Heartbeat messages within the Consumer Heartbeat Time Thus the Producer Heartbeat Time of the Heartbeat Producers must be lower than this Consumer Heartbeat Time If a Heartbeat message is not received within the Consumer Heartbeat Time the consumer triggers a Heartbeat event Considering that the configuration of Consumer Heartbeat Time and Producer Heartbeat Time parameters is supported by SyCon v2 8 and its future versions it will not be described in this user s manual as the Heartbeat Protocol is one of the many possibilities of the SDO service 44 BBV52819 09 2009 Object dictionary General contents of the object dictionary The general breakdown of the Altivar 312 object dictionary is the same for all CANopen devices Index Object 16 0000 Unused 16 0001 16 001F Static data types 16 0020 16 003F Complex data types 16 0040 16 005F Unused Manufacturer specific complex data types 16 0060 16 007F Device profile specific static data types 16 0080 16 009F Device profile specific complex data types 16 00A0 16 0FFF Reserved for further use 16 1000 16 1FFF Communication profile area 16 2000 16 5FFF Altivar 312 specific profile area 16 6000 16 9FFF
51. r panel 60 mm 2 36 in mounting distance 9 Ground plate for the trunk cable shield 10 Openings for the CANopen trunk cable 11 Opening for the green yellow grounding wire BBV52819 09 2009 13 Hardware setup CANopen tap option VW3CANTAP2 Connecting the drive to the ATV 312 CANopen tap Connect the cord with 2 RJ45 connectors VW3 CAN CA RR 03 or VW3 CAN CA RR 1 to the RJ45 connector of the drive and to the ATV1 or ATV2 female RJ45 connector located on the ATV 312 CANopen tap VW3 CAN TAP 2 If only one Altivar 312 is connected to the ATV 312 CANopen tap the ATV1 connector must be used BBV52819 09 2009 Hardware setup CANopen tap option VW3CANTAP2 Setup of the CANopen tap Tools required 2 5 mm flat screwdriver Procedure Note the numbers shown below correspond to the numbers in the tap description Unscrew screw 1 page 13 Open cover Attach the tap base to its support either to an AM1 DP200 or AM1 DE 200 DIN rail orto a plate or panel using 2 M4 screws at least 20 mm 0 8 in long Prepare trunk cables 20 and 21 as shown on the following pages Position grounding clamps 22 on the cables Position ground connection 23 Connect the trunk cables to terminal blocks 7 as shown on the following pages Use a 2 5 mm flat screwdriver Thread torque on terminal block screw 0 25 N m 2 21 Ib in Scre
52. rite example for the SDO service This example demonstrates how to write the value 100 s to the parameter Acceleration time ACC of an Altivar 312 located at the CANopen address 4 COB ID 1622580 Node ID or 162600 Node ID The index sub index of this parameter is equal to 16 203C 02 N B The indexes and sub indexes for all the variables of the Altivar 312 are listed in the user s manual Communication variables of the Altivar 312 Write request Client Drive The request code of this write request is 16 2B because we are trying to modify the value of a 2 byte data 162604 16 2B 16 3C 16 20 16 02 16 E8 16 03 16 00 16 00 The 2 byte data field of the request frame displayed above indicates that the value we try to attribute to the Acceleration parameter is equal to 1000 16 03E8 which equates to an Acceleration time ACC of 100 s the unit of this parameter is 0 1s Write response Client Drive The response code of the write response is 16 60 because the write operation was successfully performed 16 584 16 60 16 3C 16 20 16 02 16 00 16 00 16 00 16 00 BBV52819 09 2009 41 Description of the services Error control protocols COB ID 16 700 Node ID Bootup protocol Client Drive COB ID Byte 0 This protocol is used to signal that the Drive has entered the node state Pre Operational after 1792 the
53. splay terminal optional graphic display terminal and optional remote terminal The communication functions are not described in this manual but in the manual for the bus or network used Simplified manual This manual is a simplified version of the User manual This manual is delivered with the drive Quick Start sheet The Quick Start describes how to wire and configure the drive to start motor quickly and simply for simple applications This document is delivered with the drive Communication manuals Modbus and CANopen These manuals describe the assembly connection to the bus or network signaling diagnostics and configuration of the communication specific parameters They also describe the protocol communication services Communication variables guide This manual defines the drive control processes and the drive variables which can be accessed by the communication buses Modbus CANopen en 6 BBV52819 09 2009 Presentation The CANopen socket on the Altivar 312 can be used for the following functions Configuration Settings Control Monitoring This guide contains information on installation and describes the CANopen services available The communication variables guide describes the operating modes as well as the Altivar 312 variables and parameters which can be accessed via the communication bus BBV52819 09 2009 T Hardware setup CANopen daisy chain option VW3A31208 The follow
54. state of the drive the following services are available Initialising Pre operational Operational Stopped PDO X SDO X X Synchronisation SYNC X X Emergency X X Boot Up X X Network Management X X X 32 BBV52819 09 2009 Description of the services Synchronisation object SYNC COB ID 16 080 Client Drive COB ID 128 16 080 The SYNC object is cyclically emitted by the CANopen master It does not include any data hence limiting its frame to its sole COB ID The main purpose of this object is to allow to use the synchronous communication modes of the CANopen slaves Thus in the case of the Altivar 312 the PDO 6 if used can be set on one of the possible synchronously cyclic or acyclic communication modes Emergency Object EMCY COB ID 16 080 Node ID Client Drive COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 128 Emergency Error Code Error register 16 080 0 no error 0 0 0 0 0 Node ID LSB MSB 1 error An EMCY object is sent by the Altivar 312 to the other CANopen devices with high priority whenever an internal error appears Byte 2 1 or disappears Byte 2 0 An EMCY will never be repeated The Emergency Error Code is the same as the variable Fault code 603F refer to the user s manual Communication variables BBV52819 09 2009 33 Descripti
55. tion add a TSX CPP 110 CANopen PCMCIA card in the Channel 1 of the Comm slot of the TSX 57353 Note TSX CPP 100 and TSX CPP 110 cards are configured in exactly the same way in PL7 PRO W PL7 PRO ATY71 SOFTWARE SETUP EXAMPLE i OF Xx File Edit Utilities View Tools PLC Debug Options Window l alale sa lm B E ro ee ie Application Browser W TSX 57353 RACK 0 POSITION 0 Eye Ta Designation PROCESSOR TSX P 57353 tricture vier RUNG STOP p 3 STATION Eg J Configuration m CHANNEL 1 MP Hardware Conficurat reserve Tsx CPP 100 110 CAN OPEN PCMCIA CARD E ri Software Contigurati Dam CANopen x mast Mi Configuration x Busstattup Inputs r Outputs tsx 57353 v5 1 ej A C Maintain RAZ e Automatic No of words Mw 32 4 Semi Automatic bus alone No of words MW 2 fo C Byprogram Index of Ist vw fz Indes of Ist vw Configuration load mode Watchdog Select Database 3 Activated Configuration size 13 words PL C SuCon C Disactived wooor Transmission speed SYNC Message COB ID SYNC Message Period Auto Clear wawan MOA BU conhouration Ready OFFLINE 1U SYS INS Z Click on the hilscher button enclosed in a red box above to start the SyCon configuration tool N B This button is not displayed if you have not installed SyCon on your PC
56. ts s Maximum length of 5 000 m 2 500 m 1 000 m 500 m 250 m 100 m 5m the bus 16 404 ft 8 202 ft 3 280 ft 1 640 ft 820 ft 328 ft 16 4 ft Note At the speed of 1 000 kbits s the lenght of the drops must be limited to 0 3 m 11 8 in Maximum bus length are divided by 2 when an Altivar 312 is placed on a CANopen bus with CANopen option VW3A31208 BBV52819 09 2009 17 Signalling The two signalling LEDs located immediately on the right of the 4 digit 7 segment front display unit of the Altivar 312 are used to indicate the status of the CANopen communications LED state Altivar 312 CANopen state C9 The CANopen controller is in OFF state Vel 2 The Altivar 312 is in STOPPED state z c xh ems P gt e Altivar 312 is in PRE OPERATIONAL state y 4 The Altivar 312 is in OPERATIONAL state GO No error reported X ee Warning reported by the CANopen controller of the Altivar 312 e g too many error O Aa frames X VN m KA A Error due to the occurrence of a node guarding event or a heartbeat event Description of the various LED states The CANopen controller is in bus off state LED state Visual description of the LED state amp The LED is OFF VY The LED is SINGLE FLASHING KEN 200 ms ON and 1 second OFF uf Sf The LED is DOUBLE FLASHING KEN KEN 200 ms ON 200 ms OFF 200 ms ON an
57. ver SDO COB ID Client Drive transmit 16 00 RO Unsigned 8 16 02 Receive PDO1 Number of entries 16 01 RW Unsigned 32 ie ers qu Receive PDO1 COB ID 16 1400 Receive PDO1 Transmission type The only 16 02 RO Unsigned 8 16 FF available mode for this PDO is asynchronous PDO sent when its data value changes 16 00 RO Unsigned 8 16 02 Receive PDO6 Number of entries 16 01 RW Unsigned 32 em Receive PDO6 COB ID 16741405 Receive PDO6 Transmission type Two modes 165202 RW Unsigned 8 16 FF are available for this PDO asynchronous 255 and synchronously cyclic 1 240 16 00 RO Unsigned 8 46401 Receive PDO1 mapping Number of mapped objects nen Receive PDO1 ing 1 d object Control eceive mapping 1 mapped object Contro 16201 RO Unsigned 32 16260400010 word CMDD 1646040 F Receive PDO6 mapping Number of mapped 16490 RW Unsigned B 16402 objects 0 to 4 objects can be mapped for this PDO Receive PDO6 mapping 15t mapped object Control 16201 RW Unsigned 32 165260400010 word CMDD 1686040 1621605 d Receive PDO6 mapping 2 mapped object 16702 IY Unsigned 32 16 60420010 Velocity reference LFRD 16 6042 16 03 RW Unsigned 32 16 00000000 Receive PDO6 mapping No 3rd mapped object 16 04 RW Unsigned 32 16 00000000 Receive PDO6 mapping No 4th mapped object 16 00 RO Unsigned 8 16 05 Transmit PDO1 Number of entries 16 01 RW Unsigned 32 eae Transmit PDO1 COB ID Node ID Transmit PDO1 Transm
58. w down the grounding clamps and connections using screws 19 Connect the green yellow grounding wire to the connection lug 6 Immobilise the cables using nylon clamps Position micro switch to ON if line termination is required Break the tabs on the cover so that the cables can pass through Replace cover and fasten it in place with screw 1 page 13 BBV52819 09 2009 15 Hardware setup CANopen tap option VW3CANTAP2 Connecting the trunk cable Cable preparation guide 54 mm 2 12 in 8 mm 0 31 in 8 mm 0 31 in lt _ _ n Shielding Pin Signal Wire colour Description 1 GND Black Ground 2 CAN L Blue CAN L bus line 3 SHLD bare cableshield Optional shield 4 CAN H White CAN H bus line 5 V Red Optional supply 1 1 If the CANopen cables have a fourth red wire it should be connected to pin 5 in order to relay the V optional signal to the other CANopen stations Pin out of the RJ45 connectors 2 Modbus signals ATV1 ATV2 PowerSuite Pin Signal Pin Signal Pin Signal 1 CAN H 1 CAN H 1 Not connected 2 CAN L 2 CAN L 2 Not connected 3 CAN GND 3 CAN GND 3 Not connected 4 D1 2 4 D1 2 4 D1 2 5 DO 2 5 DO 2 5 DO 2 6 Not connected 6 Not connected 6 Not connected 7 VP 3 7 Not connected 7 VP 3 8 Common 2 8 Common 2 8 Common 2
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Schneider Altivar312 Manual(4)