Lenze i550

12.9.1 Commissioning
In the following, the steps required for controlling the inverter via CANopen are described.
Parameterisaon required
1.
Set the CANopen node address.
•
Each network node must be provided with a unique node address.
•
Details: 4Node address seng ^ 348
2.
Set the CANopen baud rate.
•
Default seng: 500 = kbps
•
Details: 4Baud rate
seng ^ 349
3.
Oponal: Congure inverter as "mini master".
•
Required if the inialisaon of the CANopen network and the associated status change
from "Pre-Operaonal" to "Operaonal" is not eected by a higher-level host system.
•
Details: 4Conguring the device as mini master ^ 350
4.
Oponal: Change the response of the inverter to the triggering of the RPDO me monitor-
ing.
•
Default seng: In case of missing RPDOs, an error is triggered.
•
Details: 4Error responses ^ 362
5.
Save parameter sengs: 0x2022:003 (P700.03) = "On / start = [1]".
6.
Switch the inverter o and then on again in order that the changed communicaon set-
tings can get eecve.
7.
Program the master so that the following SDO messages are sent to the inverter:
1.
0x2631:037 (P400.37) = 1 (acvate network control)
2.
0x2860:001 (P201.01) = 5 (set network as standard setpoint source)
3.
PDO mapping and conguraon of the process data objects RPDO1 and TPDO1 (see
the secons "RPDO1 mapping modicaon" and "TPDO1 mapping modicaon").
8.
Control inverter via RPDO1 (and evaluate the current status via TPDO1).
•
For assignment of the control word and setpoint selecon, see secon "RPDO1 map-
ping modicaon".
•
For assignment of the status word and actual value output, see secon "TPDO1 map-
ping modicaon".
•
Acceleraon 0x2917 (P220.00) and deceleraon 0x2918 (P221.00) can be set/changed
via SDO messages.
In the default seng, the digital input DI1 is assigned the "Run" funcon. If the
network control is acvated, this funcon serves as "start enable" for start com-
mands via network. Hence, the digital input DI1 must be set to the HIGH level in
order that the motor can be started via the network.
4Flexible I/O conguraon of the start, stop and rotang direcon com-
mands ^ 59
Conguring the network
CANopen
Commissioning
344