Configuration – Lenze ECSCPxxx User Manual
Page 277
Configuration
Configuring MotionBus/system bus (CAN)
Guiding angle selection and synchronisation via MotionBus (CAN)
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277
EDBCSXP064 EN 8.0
8.1.6
Guiding angle selection and synchronisation via MotionBus (CAN)
)
Note!
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This function is activated by C3095/x = 31 (electrical shaft ("E−shaft") via
MotionBus (CAN)) in the positioning profile.
ƒ
An external control master is required for selecting the setpoint telegrams!
Please observe the following sequence during commissioning:
Device
Step
Description
All devices
1.
Commission the controller and
MotionBus (CAN).
2.
Inhibit controller.
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Press the <F9> key in GDC.
^ 241
Slave drives
3.
C1120 = 1
Active synchronisation by sync telegram via
system bus.
4.
C0366 = 1
Sync response:
Slaves respond to sync telegram.
Master
(ext. control)
5.
Define the telegram sequence (identifier):
A Send setpoint telegram to all slaves.
B Transmit sync telegram.
C Receive response of all slaves.
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For the structure of the setpoint telegram,
see
^ 158.
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The angle is selected with the bytes 5 − 8
("PosDirect") of the setpoint telegram in
increments (2
10
inc = 1 revolution of the
motor shaft).
6.
Start communication, send sync telegrams.
Slave drives
7.
Read C0362 from the master.
Retrieve cycle time of the sync telegram from
the master.
8.
Set C1121 according to C0362 of the master.
Adjust the time distance of the sync
telegrams to be received to the cycle time of
the master.
9.
Set C1123.
Set optimum size of the "sync window".
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If the sync signal "jitters" heavily (
^ 278),
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Guide values subject to the CAN baud
rate:
– 1 Mbit
à 0.2 ms
– 500 kbit
à 0.4 ms
– 250 kbit
à 0.8 ms
10. Enable the controller via the signal
"CANSync−InsideWindow" applied to the
digital output.
Synchronisation monitoring:
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If "CANSync−InsideWindow" = TRUE,
enable the controller.