Lenze I/O system 1000 - Page 3

Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17 3
Contents
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5 CANopen communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 78
5.1 About CANopen _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 78
5.1.1 Structure of the CAN data telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 78
5.1.2 Identifier _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79
5.1.3 Saving settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79
5.2 Network management (NMT) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 80
5.3 Transmitting process data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 83
5.3.1 Process data telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 83
5.3.2 Identifiers of the process data objects (PDO) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 84
5.3.3 Assigning individual identifiers _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 85
5.3.4 Transmission mode for process data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 85
5.3.5 PDO mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 87
5.3.6 PDO mapping for I/O compound modules with a serial interface _ _ _ _ _ _ _ _ _ _ _ _ _ 89
5.3.7 PDO mapping for I/O compound modules with time stamp function _ _ _ _ _ _ _ _ _ _ _ 90
5.3.8 PDO mapping for I/O compound modules with PWM function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 93
5.3.9 PDO mapping for counters and encoder evaluation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 94
5.3.10 Data transfer between I/O system and inverter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 96
5.3.11 Indices for setting the process data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 97
5.4 Transmitting parameter data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 100
5.4.1 Telegram structure _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 100
5.4.1.1 Command code _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 101
5.4.1.2 Addressing the parameter (index / subindex) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 102
5.4.1.3 Data of the parameter (data 1 ... 4) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 102
5.4.2 Writing a parameter (example) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 103
5.4.3 Reading a parameter (example) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 105
5.5 Station behaviour after switch-on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 107
5.6 Baud rate and node address (node ID) setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 108
5.7 General function of the parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 109
5.7.1 Parameterising digital I/Os _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 109
5.7.2 Parameterising analog I/Os, counter, SSI, time stamp and PWM _ _ _ _ _ _ _ _ _ _ _ _ _ _ 110
5.8 Parameterising analog I/Os _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 111
5.8.1 2 analog inputs 0 ... 10 V (12 bits) - EPM-S400 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 111
5.8.2 4 analog inputs 0 ... 10 V (12 bits) - EPM-S401 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 112
5.8.3 2 analog inputs 0/4 ... 20 mA (12 bits) - EPM-S402 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 113
5.8.4 4 analog inputs 0/4 ... 20 mA (12 bits) - EPM-S403 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 114
5.8.5 2 analog inputs -10 ... +10 V (16 bits) - EPM-S406 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 115
5.8.6 2 analog inputs 0/4 ... 20 mA (16 bits) - EPM-S408 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 117
5.8.7 2 analog outputs 0 ... 10 V (12 bits) - EPM-S500 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 119
5.8.8 4 analog outputs 0 ... 10 V (12 bits) - EPM-S501 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 120
5.8.9 2 analog outputs 0/4 ... 20 mA (12 bits) - EPM-S502 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 121
5.8.10 4 analog outputs 0/4 ... 20 mA (12 bits) - EPM-S503 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 122
5.8.11 Error behaviour _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 123
5.9 Parameterising temperature measurement _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 124
5.9.1 4(2) analog input for resistance measurement - EPM-S404 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 124
5.9.2 2 analog inputs for thermocouple measurement - EPM-S405 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 131
5.9.3 Error behaviour _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 135
5.10 Parameterising the counter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 136
5.10.1 Commissioning examples _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 136
5.10.2 Rotary transducer signal evaluation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 137
5.10.3 1 counter 32 bits, 24 V DC - EPM-S600 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 138
5.10.4 2 counters 32 bits, 24 V DC - EPM-S601 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 142
5.10.5 1 counter 32 bits, 5 V DC - EPM-S602 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 146
5.10.6 2 counters 32 bits, 24 V DC - EPM-S603 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 149