8.5.14. CANopen short setup
In the following, the steps required for controlling the inverter via CANopen are described.
Parameterisation required
1. Set the CANopen node address.
• Each network node must be provided with a unique node address.
•
Details:
CANopen node address
198
2. Set the CANopen baud rate.
• Default setting: 500 kbps
•
Details:
CANopen baud rate
199
3. Optional: Configure inverter as "mini master".
• Required if the initialisation of the CANopen network and the associated status
change from "Pre-Operational" to "Operational" is not effected by a higher-level
host system.
•
Details:
CANopen initialisation
200
4. Optional: Change the response of the inverter to the triggering of the RPDO time
monitoring.
• Default setting: In case of missing RPDOs, an error is triggered.
•
Details:
CANopen error responses
213
5. Save parameter settings: 0x2022:003 (P700.03) = "On / start [1]".
6. Switch the inverter off and then on again in order that the changed communication
settings can get effective.
7. Program the master so that the following SDO messages are sent to the inverter:
• 0x2631:037 (P400.37) = 1 (activate network control)
• 0x2860:001 (P201.01) = 5 (set network as standard setpoint source)
• PDO mapping and configuration of the process data objects RPDO1 and TPDO1 (see
the sections "RPDO1 mapping" and "TPDO1 mapping").
8. Control inverter via RPDO1 (and evaluate the current status via TPDO1).
• For assignment of the control word and setpoint selection, see section "RPDO1
map- ping
".
• F
or assignment of the status word and actual value output, see section "TPDO1
map- ping".
• Acceleration 0x2917 (P220.00) and deceleration 0x2918 (P221.00) can be
set/changed via SDO messages.
In the default setting, the digital input DI1 is
assigned with the "Run" function. If the network
control is activated, this function serves as "start
enable" for start commands via network. Hence,
the digital input DI1 must be set to HIGH level in
order that the motor can be started via network.
Start / stop motor
363
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