Contents 12.2010
Siemens AG 6SE7087-6QX70 (Version AM)
SIMOVERT MASTERDRIVES Compendium Motion Control 7
8.4 CBC Communications Board......................................................................... 8.4-1
8.4.1 Product description........................................................................................ 8.4-1
8.4.2 Mounting methods / CBC slots...................................................................... 8.4-4
8.4.2.1 Mounting positions of the CBC in MC Compact PLUS units......................... 8.4-4
8.4.2.2 Mounting positions of the CBC in Compact and chassis units of function
classes MC (CUPM, CUMC) and VC (CUVC) .............................................. 8.4-5
8.4.2.3 Mounting positions of the CBC in Compact type and chassis type units
with the CU of the function classes FC (CU1), VC (CU2) or SC (CU3) ........ 8.4-6
8.4.2.4 Mounting positions of the CBC in VC Compact PLUS units ......................... 8.4-7
8.4.3 Connecting..................................................................................................... 8.4-8
8.4.3.1 Connection of the bus cable .......................................................................... 8.4-9
8.4.3.2 EMC measures............................................................................................ 8.4-10
8.4.3.3 Bus termination of the CAN bus (jumper S1.2) ........................................... 8.4-13
8.4.3.4 Ground connection (jumper S1.1) ............................................................... 8.4-13
8.4.3.5 Interface X458 / X459 with jumper strip S1 ................................................. 8.4-14
8.4.3.6 Recommended circuits ................................................................................ 8.4-15
8.4.4 Data transfer via the CAN bus..................................................................... 8.4-16
8.4.4.1 General ........................................................................................................ 8.4-16
8.4.4.2 Parameter area (PKW) ................................................................................ 8.4-17
8.4.4.3 Process data area (PZD)............................................................................. 8.4-24
8.4.5 Start-up of the CBC ..................................................................................... 8.4-31
8.4.5.1 Basic parameterization of the units ............................................................. 8.4-32
8.4.5.2 Process-data softwiring in the units............................................................. 8.4-45
8.4.6 Diagnosis and troubleshooting .................................................................... 8.4-52
8.4.6.1 Evaluation of hardware diagnostics............................................................. 8.4-52
8.4.6.2 Fault displays and alarms on the basic unit ................................................ 8.4-54
8.4.6.3 Evaluation of the CBC diagnostic parameter .............................................. 8.4-56
8.4.6.4 Meaning of CBC diagnosis .......................................................................... 8.4-57
8.4.7 Appendix...................................................................................................... 8.4-60
8.5 CBC CANopen communication board........................................................... 8.5-1
8.5.1 Object directory.............................................................................................. 8.5-5
8.5.2 Commissioning the CBC ............................................................................. 8.5-16
8.5.2.1 General settings........................................................................................... 8.5-16
8.5.2.2 NMT state .................................................................................................... 8.5-27
8.5.2.3 Relation between PDO/PZD and SDO/PKW............................................... 8.5-29
8.5.2.4 PDO mapping .............................................................................................. 8.5-34
8.5.3 Manufacturer-specific objects...................................................................... 8.5-48
8.5.3.1 Parameter editing ........................................................................................ 8.5-48
8.5.3.2 Example: Change parameter value with object 4001h................................ 8.5-52
8.5.3.3 Setting factory values (defaults) via CANopen............................................ 8.5-53
8.5.3.4 Changing the baud rate and bus address
(on MASTERDRIVES MC only)................................................................... 8.5-54
8.5.4 Faults and alarms ........................................................................................ 8.5-55
8.5.4.1 Structure of object 1003
h
(pre-defined error field) ...................................... 8.5-55
8.5.4.2 Error codes .................................................................................................. 8.5-56
8.5.5 Life guarding / node guarding...................................................................... 8.5-59
8.5.6 The state machine ....................................................................................... 8.5-60
8.5.6.1 Control word ................................................................................................ 8.5-61
8.5.6.2 Status word.................................................................................................. 8.5-62
8.5.6.3 Modes of operation...................................................................................... 8.5-64
8.5.7 Description of individual modes................................................................... 8.5-65
8.5.7.1 Profile Position mode................................................................................... 8.5-65
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