Rockwell Automation 20-COMM-K CANopen Adapter - Manual (Page 101)

20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Appendix F
Logic Controller Program Example
The example logic controller program in this appendix provides details of
how to program the Mauell Telmatic ME series of PLC hardware with the
Mauell CoDeSys AA programming software to control a PowerFlex 70 or
PowerFlex 700 drive.
The example program provides the following functions:
•
Start, stop, change direction, jog the drive, and obtain the status
information.
•
Increase and decrease the speed reference and obtain the speed feedback.
•
Dynamically control current limit, brake level, acceleration time 1, and
the jog frequency.
•
Receive the output current, the output power, the last fault, and the status
of the digital inputs.
Configuring the Drive/
Adapter For this example, the following parameters must be set in the PowerFlex
drive:
For this example, the following parameter must be set in the 20-COMM-K:
The CANopen network is configured as described in Appendix E .
Topic Page
Configuring the Drive/ Adapter F-1
Network Variables File F-2
Program Code and Program Run F-3
SDO Access Example F-4
Parameter Value Description
90 – [Speed Ref A Sel] 22 (DPI Port 5) Assigns 20-COMM-K to be used for the Reference
300 – [Data In A1] 140 Points to Parameter 140 - [Accel Time 1]
P301 – [Data In A2] 158 Points to Parameter 158 - [DC Brake Level]
302 – [Data In B1] 148 Points to Parameter 148 - [Current Lmt Val]
303 – [Data In B2] 100 Points to Parameter 100 - [Jog Speed]
310 – [Data Out A1] 3 Points to Parameter 3 - [Output Current]
311 – [Data Out A2] 216 Points to Parameter 216 - [Dig In Status]
312 – [Data Out B1] 243 Points to Parameter 243 - [Fault 1 Code]
313 – [Data Out B2] 7 Points to Parameter 7 - [Output Power]
Parameter Value Description
12 – [DPI I/O Cfg] xxx0 0111 Enables Cmd/Ref, Datalinks A and B