Lenze CANopen control technology - Manual (Page 44)

Control technology | CANopen communication manual
Commissioning the CANopen Logic bus
Commissioning of field devices
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DMS 4.2 EN 07/2011 TD17
8.3.2 Commissioning the Servo Drives 9400
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How to commission the Servo Drives 9400:
1. Start the »Engineer«.
2. Open and create an »Engineer« project.
• Enter an axis consisting of Servo Drive 9400, device modules, application, and
motor. Type and version of the planned device must comply with the real
device.
3. Set the intended node address and baud rate.
• Hardware setting via DIP switch or
• in the parameter list via codes:
- For "CAN on board" interface: C00350 and C00351
- For CANopen module in slot 1: C13350 and C13351
- For CANopen module in slot 2: C14350 and C14351
The codes can only be parameterised if the node address "0" and the baud rate "0"
are set via the DIP switches (all DIP switches in OFF position).
A change of node address and baud rate gets only effective after a CAN reset node.
4. Set the sync phase position.
• When the "CAN on board" interface is used, set C01122 = 120 μs.
• When a CANopen module is used, set C01122 = 300 μs.
5. Go online with the Servo Drive 9400 and transfer the application to the device.
6. Make the motor rotate and, if required, parameterise the controller settings.