Lenze CANopen control technology - Manual (Page 79)

DMS 4.2 EN 07/2011 TD17
L
79
Control technology | CANopen communication manual
Commissioning the CANopen Motion bus
Creating a control configuration
9.5 Creating a control configuration

How to create a control configuration:
1. Go to »PLC Designer« and change to control configuration.
2. Add the "BusInterface_CAN " subelement to the "PLC Configuration" basic node.
The "BusInterface_CAN" subelement generally represents the fieldbus connection
via the CANopen (Motion) interfaces of the IPC.
3. Add the H "Axis_Group_CAN" subelement to the "BusInterface_CAN" element.
The "Axis_Group_CAN" subelement represents the single CANopen (Motion)
interface of the IPC (the special Sub-D plug).
4. Assign a task to "Axis_Group_CAN" (e.g. the "Motion task" created before).
5. Enter the suitable controller number in the "Controller No." field in the "Specific
Settings" area.
This serves to define the number of the CANopen interface via which the Motion
drives are to be controlled. The following assignment applies:
6. Set the corresponding baud rate of the Motion axes in the "Baud Rate" input field
in the "Specific settings" area.
7. Add the "Drive" subelement to the " Axis_Group_CAN ".
8. Assign an appropriate name for the "Drive" Motion drive (e.g. "Drive_vertical") in
the task configurator tree (left window). With a mouse-click on "Drive", the name
is activated for editing.
9. Adapt the "Drive ID".
The "Drive ID" corresponds to the node number of the Motion drive.
10. Enter the value 66536 into the "Increments" input field in the "Conversion Factor"
area.
11. Repeat the steps 7 to 10 until the required number of Motion drives is reached.

Note!
To prevent the sync telegram from jittering, all Motion phases must be assigned
to the same task.
CAN interface Controller no. Notes
CAN1 0 The CAN1 connection is usually used for the Logic bus. Thus
the first Motion bus mostly is CAN2.
CAN2 1
CAN3 2
CAN4 3