Document Outline

• Controller-based Automation - CANopen®
  • Contents
    • 1 About this documentation
      • 1.1 Document history
      • 1.2 Conventions used
      • 1.3 Terminology used
      • 1.4 Definition of the notes used
    • 2 Safety instructions
    • 3 Controller-based Automation: Central motion control
    • 4 System bus (CAN) / CANopen
      • 4.1 CANopen (Logic) / CANopen (Motion)
      • 4.2 Field devices
      • 4.3 CANopen hardware for Lenze Controllers
      • 4.4 Lenze Engineering tools
    • 5 Technical data
      • 5.1 General data
      • 5.2 Technical data of the MC-CAN2 communication card
      • 5.3 Bus cable specification
      • 5.4 Bus cable length
        • 5.4.1 Total cable length
        • 5.4.2 Segment cable length
        • 5.4.3 Use of repeaters
    • 6 Planning the CANopen network
      • 6.1 COB-IDs acc. to DS301
      • 6.2 Example of an overview screen
      • 6.3 Device specifications of the field devices
        • 6.3.1 Special features of the 9400 Servo Drives
        • 6.3.2 Special features of the 8400 Inverter Drives
        • 6.3.3 Special features of the I/O system 1000 (EPM-Sxxx)
      • 6.4 Special case: Delayed switch-on of one or more slaves
    • 7 Preparing the field devices
      • 7.1 Installing field devices
      • 7.2 Setting node addresses and baud rate
      • 7.3 Connecting the Engineering PC to the Lenze Controller
    • 8 Commissioning of the CANopen Logic bus
      • 8.1 Sample projects (Application Samples)
      • 8.2 Overview of the commissioning steps
      • 8.3 Create a project folder
      • 8.4 Commissioning the field devices
      • 8.5 Creating a PLC program with a target system (Logic)
      • 8.6 Configuring the communication parameters
      • 8.7 Importing missing devices / device description files
      • 8.8 Creating a control configuration (adding field devices)
      • 8.9 Setting of CAN parameters and PDO mapping
        • 8.9.1 Cross communication between the slaves
        • 8.9.2 Special features of the I/O system 1000 (EPM-Sxxx)
      • 8.10 Creating the program code for controlling the Logic field device
      • 8.11 Preparing the restart
        • 8.11.1 Special features of the 9400 Servo Drives HighLine
        • 8.11.2 Special features of the 8400 Inverter Drives
        • 8.11.3 Special features of the I/O system 1000 (EPM-Sxxx)
          • 8.11.3.1 Automatic restart
          • 8.11.3.2 Automatic restart with factory adjustment
          • 8.11.3.3 Restart with the »Engineer«
      • 8.12 Compiling the PLC program code
      • 8.13 Logging in on the Lenze Controller with the »PLC Designer«
      • 8.14 Starting the PLC program
      • 8.15 Start parameters of the Servo Drives 9400 HighLine CiA 402
    • 9 Commissioning of the CANopen Motion bus
      • 9.1 Sample projects (Application Samples)
      • 9.2 Overview of the commissioning steps
      • 9.3 Create a project folder
      • 9.4 Commissioning the field devices
      • 9.5 Creating a PLC program with target system (Motion)
      • 9.6 Configuring the communication parameters
      • 9.7 Creating a Motion task
      • 9.8 Creating a control configuration
      • 9.9 Parallel operation of two synchronised CAN buses
      • 9.10 Setting SoftMotion parameters
      • 9.11 Setting of CAN parameters and PDO mapping
      • 9.12 Creating the program code for controlling the Motion field device
      • 9.13 Preparing the restart
      • 9.14 Compiling the PLC program code
      • 9.15 Logging in on the Lenze Controller with the »PLC Designer«
      • 9.16 Starting the PLC program
      • 9.17 Start parameters of the Servo Drives 9400 HighLine CiA 402
    • 10 Mixed operation of CANopen and EtherCAT
    • 11 SM3_Drive_Lenze.lib function library
    • 12 Restarting the CAN bus
    • 13 Defining the minimum cycle time of the PLC project
      • 13.1 Determining the task utilisation of the application
      • 13.2 Optimising the system
    • 14 Diagnostics
      • 14.1 Logbook of the Lenze Controller
      • 14.2 "Status" tab of the connected field devices
      • 14.3 Diagnostic codes
      • 14.4 System bus configurator of the »Engineer«
      • 14.5 »PCAN view« for diagnostic purposes
        • 14.5.1 Monitor telegram traffic on the CANopen bus
        • 14.5.2 Setting all CANopen nodes to the "Operational" status
      • 14.6 Notes regarding the visualisation using »VisiWinNET«
    • 15 Parameter reference
      • C1031
      • C1032
      • C1033
      • C1034
      • C1035
      • C1036
      • C1037
      • C1038
    • Index
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