Lenze ECSCPxxx - Manual (Page 218)

Commissioning
Configuring the electrical shaft ("E−Shaft")
Electrical shaft via MotionBus (CAN) with ECSxP as electrical shaft master
6
l
218 EDBCSXP064 EN 8.0
Setting Brief description
Preconditions l Wiring of the MotionBus (CAN) X4 for the master value transmission
l Wiring of the system bus (CAN) X14 for the control and coordination of the
drive system by the master control (PLC)
l A PC with the "Global Drive Control" (GDC) operating program can be
connected to the system bus (CAN) X14 for parameterisation.
l Information on selection and configuration of the control interface to control
the drive system can be found on
^ 226.
Settings for the master drive
1. Carry out CAN settings. l C0350 = x; set the CAN node address of the CAN node.
l C0351 = 500 kbps; set the same CAN baud rate for all nodes.
l C0353/2 = 0; leave ID creation mode in default setting.
2. Carry out boot−up
settings. l C0352 = 1; set master boot−up.
l C0356/1 = 3000 ms; leave default setting.
3. Set transmission cycle for
the setpoints. l C4062 = 2 ms; Electrical shaft − setpoint cycle of master (recommendation)
The cycle time setting under code C4062 is automatically accepted into the
codes C0369 (CAN−sync transmission cycle) and C0356/2 (CAN2−OUT
transmission cycle)
l C0355/4; display: Identifier CAN2_Out.
Take a note of the displayed identifier for the CAN2−Out of the master to be
able to set the suitable identifiers in the slaves.
4. Define positioning profile
for the operation. l Go to positioning profiles in the GDC parameter menu and create the
positioning profiles required for your application; e.g. with absolute
positioning or relative positioning in the continuous measuring system. (see
brief description
^ 123.)
l Do not start the profiles yet!
5. Save settings with mains
failure protection. l C0003 = 1; save parameter set 1.
The settings for the master drive are now completed.
6. GDC: change to online connection to the slave drive.
Settings for the slave drive
7. Carry out CAN settings. l C0350 = x; set the CAN node address of the CAN node.
l C0351 = 500 kbps; set the same CAN baud rate for all nodes.
8. Configure process data
channel 1 (PDO1) as
input channel. l C4010 = 0; select control interface "CAN1 (PDO1, sync−controlled)".
l C0353/1 = 1; set ID creation mode for CAN1_IN/OUT to "Identifier = 384 +
ID−Offset C0354".
l C0354/1 = xx ; set ID offset CAN1_IN as follows:
– ID offset = (value written down from C0355/4 − 384)
– Check: The identifier displayed in the slave under C0355/1 for CAN1_IN
must be equal to the identifier written down from CAN2_OUT of the
master.
9. Set the synchronisation
of the program cycles by
means of a CAN sync
telegram. l C1120 = 1; set the source of the sync signal to "CAN Sync MotionBus X4" (the
synchronisation function will be activated).
l C1121 = 2 ms; set the same time for the synchronisation cycle as for the
master under C4062.
l C1122 = 0.800 ms; set the synchronisation phase.
– Recommendation: 0.8 ms for baud rate = 500 kbps and synchronisation
cycle = 2 ms
l C1123 = 0.4 ms; synchronisation window, set time.
– Recommendation: 0.4 ms for baud rate = 500 kbps and synchronisation
cycle = 2 ms
l C0363 = 1; set sync correction increment.
– Standard setting = 1 (0.2
ms/ms)
– Select the correction increment so that the synchronisation deviation in
code C4264 is about 0. (Recommendation: 0.2 ms/ms)
10. Set monitoring of the
CAN communication.
Settings in the GDC under "Monitoring − CAN MotionBus" menu
l C0357/1 = 3000 ms; set CAN1_IN monitoring time (CE1).
– Standard setting = 3000 ms
– If the reception at CAN1_IN of the slave is disturbed longer than the
monitoring time, the fault response set under code C0591 will be carried
out.
l C0591 = 0; set CE1 fault response to TRIP or warning.