Commissioning – Lenze ECSCPxxx User Manual
Page 221
Commissioning
Configuring the electrical shaft ("E−Shaft")
Electrical shaft via MotionBus (CAN) with PLC as electrical shaft master
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221
EDBCSXP064 EN 8.0
Commissioning steps for a mimimum configuration
The codes can be found in the GDC in the "Positioning/E−shaft" menu item.
Setting
Brief description
Preconditions
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Wiring of the MotionBus (CAN) X4 with the master control (PLC) which acts as
electrical shaft master.
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Connection of a PC via the "Global Drive Control" (GDC) operating program to
the system bus (CAN) X14 for parameterisation.
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Information on selection and configuration of the control interface to control
the drive system can be found on
^ 226.
Settings for the master (PLC)
1.
Configure master control
as electrical shaft master.
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Set CAN node address of the CAN node.
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Set the same CAN baud rate for all nodes.
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Tx−COB−IDs; identifiers of the process data telegrams to the slaves
– The master transmits the process data to the slave drives via the process
data channel 1 (PDO1).
– The identifiers to be set of the individual output telegrams to the slaves
result from the CANopen convention:
Identifier = basic value + node address of the slave
– The slaves therefore only require few settings differing from the standard
settings for process data communication.
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Rx−COB IDs, identifiers of the process data telegrams from the slaves
– The telegrams sent back from the slaves via PDO1 are received by the
master.
– The identifiers of the individual telegrams in standard setting of the slaves
also correspond to the CANopen convention and are calculated as follows:
Identifier = basic value + node address of the slave
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Cyclically send a CAN sync telegram (
^ 420) with the identifier = 0x80.
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Master setpoint cycle; Interval in which the process data and the CAN sync
telegram are transmitted by the master
– The setpoint cycle is to amount to 2, 4 or 6 ms.
Note: The set interval time for the setpoint cycle must be complied exactly
with regard to a long−term medium.
A jitter of single CAN sync telegrams of up to one telegram runtime is
non−critical if the long−term medium is complied with. In case of CAN, delays
may occur due to telegrams being in transmission since running telegrams
cannot be interrupted.
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If required, provide for monitoring of the response telegrams from the slaves.
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Generation of the master value/master angle to be transmitted to the slaves
– Telegram structure see
– The master angle is transmitted in bytes 5 ... 8 (PosDirect).
– Information on selection and configuration of the control interface to
control the drive system can be found on
^ 226.
Settings for the slave drive
2.
Carry out CAN settings.
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C0350 = x; set the CAN node address of the CAN node.
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C0351 = 500 kbps; set the same CAN baud rate for all nodes.
3.
Configure process data
channel 1 (PDO1) as
input channel.
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C4010 = 0; select control interface "CAN1 (PDO1, sync−controlled)".
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C0353/1 = 0; set the ID creation mode for CAN1_IN/OUT to "Identifier = base
value + node address C0350".
– C0355/1: Display of the identifier CAN1_IN of the slave
– C0355/2: Display of the identifier CAN1_OUT of the slave