CANopen Introduction for C2000 Solution Center WJ John Zuo.
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Transcript of CANopen Introduction for C2000 Solution Center WJ John Zuo.
CANopen Introduction for C2000
Solution Center WJ
John Zuo
Delta Products in CANopen
DVPCOPM-SL
CANOpen Master Module 127 slaves Max. Baud Rate1M bps Max. length 1000m Syn. / Asyn. methods
CP02-H2
CANOpen Slave Module
Dedicated for EH2 Max. Baud Rate1M bps
IFD9503
Modbus Module Max. Baud Rate1M bps Transformation for
Canopen to Modbus For all Delta products
CME-COP01
E series Modbus Module Max. Baud Rate1M bps Transformation for
Canopen to Modbus Dedicated for E inverter
CMC-COP01
CANopen Commun. Card Max. Baud Rate1M bps Dedicated for C2000 , Direct Canopen Connection By-pass Mechanism
C2000
CANopen inverter CANOpen Master support Direct CanOpen
Connection Max. Baud Rate 1M bps
E standard
CANopen inverter Transformation for
CANopen to Modbus Max. Baud Rate lower
than 1M bps
E-C
CANopen inverter Direct CanOpen
Connection Built-in, don’t need card Max. Baud Rates 1M bps
ASD-A2
CANopen Servo Max. Baud Rate1M bps Direct CanOpen
connection Built-in, don’t need
card By-Pass Mechanism
• C2000 must have the CMC-COP01 for connecting CANopen, and doesn’t need transformation from CANopen
to Modbus.
• E standard series must have CME-COP01 for connecting CANopen, and need transformation from CANopen to Modbus by CME-COP01. So that is not a complete CANopen.
• E-C dedicated for CANopen realize built-in CANopen, and doesn’t need any communication card.
• DVPCOPM-SL can match DVP28SV, DVP32EH00R2-L and DVP32EH00T2-L. Other EH2 series don’t have the CANopen master and only CP02-H2, which is CANopen slave, can match them.
Remarks
1 Main Products
TAP-CN01
DeviceNet/CANOpen Connector 1 master , 2 slave ports Open terminal for connecting 121ohm terminal resistor Switch for changing resistor
2. Communication Accessories
5.6mm 外径
TAP-CN02
DeviceNet/CANOpen Connector 2 master, 3 slave ports Open terminal for connecting 121ohm terminal resistor Switch for changing resistor
TAP-CN03
DeviceNet/CANOpen Connector 2 master 3 slave ports Open terminal for connecting 121ohm terminal resistor Switch for changing resistor
TAP-CB01
DeviceNet/CANOpen master line Max. length 1000m for master Satisfied to ODVA standard Thicker diameter
TAP-CB03
CANOpen connection line
Length is 0.5m Dedicated for Canopen
TAP-CB04
CANOpen connection line
Length is 1m Dedicated for Canopen
TAP-CB02
DeviceNet/CANOpen slave line Max. length 39m for slave Satisfied to ODVA standard Thinner diameter
• The master and slave ports of TAP-CN are all designed by aesthetics, namely connecting by master and slave will be a aesthetic effect but there is no any difference in physical for master and slave ports.
• TAP-CB01 is the master line and has a thicker diameter for ensuring longer communication length which can be up to 1000m in master artery. Besides, TAP-CB02 is the slave line and has a thinner diameter that can’t ensure a 1000m communication. So a short master artery or the application in slave artery can choose TAP-CB02 for a cheaper price.
• TAP-CB03 and TAP-CB04 are all for the short communication length, such as the By-Pass connection of multiple A2 or C2000. In that case, the RJ45 connectors in TAP-CB03 or CB04 are very convenient and space-saving.
Remarks
Delta Products in CANopen
C2000 Configuration in CANopen Network
3. The detail configuration process of C2000 in applying DSP402 control standard:
CANopen network architeture
Set the switch as “ON” by terminal resistor
121 ohm terminal resister
4. DVPCOPM-SL
Setting node number
Setting Baud Rate
Line Definition
How to use CANopen Products
Valid CANopen node number
Invalid CANopen node number
Rotary Switch Explanation
Baud Rate Max. Length
Reserved
Pin Signal Explanation
Shielding
Reserved
5. C2000
• If don’t use CANopen Master mode, set Pr09-45 to 0. Then C2000 can match PLC Master to build CANopen network 。
By-Pass function
How to use CANopen Products
6. The main indexes of PDO in DS402 Protocol
Index Sub. Index name Length R/W Remark
6040h 0 Control Word 16 Unsigned Integer R/W Control current status, such as Run, Stop and etc..
6041h 0 Status Word 16 Unsigned Integer RO Read current status, such as Run, Stop and etc..
6060h 0 Control Mode 8 Signed Integer R/W Choose contorl mode, such as Speed, Position and Torque.
6042h 0 Speed Com. in Speed Mode 16 Signed Integer R/W Speed command in the speed mode.
60FFh 0 Servo Speed Com. In Speed Mode 32 Signed Integer R/W Servo speed command in the speed control mode.
6081h 0 Pulse speed Com. in Pos. Mode 32 Unsigned Integer R/W Speed of Pulse sending in the Position control mode.
6071h 0 Torque Com. in Torque Mode 16 Signed Integer R/W Torque command in the Torque control mode.
607Ah 0 Position Com. in Pos. Mode 32 Signed Integer R/W Position command in the Position control mode.
604Fh 0 Acc. Time in Speed Mode 32 Unsigned Integer R/WCan’t be set to 0
Unit is 100msDetailed information please refer to the back
6050h 0 Dec. Time in Speed Mode 32 Unsigned Integer R/W
6051h 0 Quickstop Dec. Time in Speed Mode 32 Unsigned Integer R/W
6083h 0 ACC. Time in Pos./Speed Mode 32 Unsigned Integer R/W Can’t be set to 0 and Unit is 1msDetailed Information is in the Page 25
6084h 0 Dec. Time in Pos./Speed Mode 32 Unsigned Integer R/W
605Ah 0 Quickstop Mode 16 Signed Integer R/W The options when QUICKSTOP happened.
605Ch 0 Deceleration Mode 16 Signed Integer R/W The options for stop deceleration.
6093h 1 Numerator of Electric Gear Box 32 Unsigned Integer R/W Numerator of Electric Gear Box in Position Control mode.
2 Denominator of Electric Gear Box 32 Unsigned Integer R/W Denominator of Electric Gear Box in Position Control mode.
CANopen Mapping
7. 6040h Control WordPDO 6040h is Control Word which is 16 unsigned integer. Different value of 6040h can cause different status which causes different reflection of device such as run, stop and etc.. First, we should figure out the definition of bits belong to 6040h :
CANopen Mapping
• Bit 4-6 of 6040h would have different function under different control mode. The detailed information will be given on the back.
CANopen Mapping
8. 6041h Status Word
PDO 6041h is Status Word which is 16 unsigned integer. Every bit of 6041h can reflect the current status of device. This is read-only index.
CANopen Mapping
9. 6060h Control ModePDO 6060h is Control Mode which is 8 signed integer. Different value of 6060h represent different control mode :
CANopen Mapping
Canopen DS402 PDO Indexes of C2000 and E-C ( All from DS402 PDO Indexes ):
CANopen Mapping
• 6064h-607Ah is dedicated for C2000, not for E-C that never has Torque and Position control modes but speed mode only.
• C2000 possesses speed, torque, position and Homing control modes. We can choose them by 6060h, but currently only speed control mode is O.K., and other modes are under test.
• 604Fh 6050h 6051h must be set to 100ms or N times of 100ms. E.g. 100ms 200ms 300ms and etc..
CANopen Mapping
CANopen Builder Operation12. PLC Master + Driver Slave
Step one: Open Canopen Builder
Step two: Setting Communication Port
CANopen Builder Operation
Step three: Scanning the on-line devices
CANopen Builder Operation
Step four: Set PDO for slave device, double-click the slave and set PDO
CANopen Builder Operation
Step five: SDO Setting, e.g. INDEX=2000, SUB-INDEX=5, VALUE=4CANopenBuilder possesses 20 Words SDO which user can use to define parameters only one time initializing ( No repeated writing or reading operation )
CANopen Builder Operation
Step Six: Double-click master, complete PDO mapping
CANopen Builder Operation
PLC Programming6.1 Inverter Case
E.g. if C2000 PDO mapping as follows, we can program PLC by it.
MOV
MOV
H7F
K-900
D6282
D6283
X0
MOV
MOV
K1200
H0
D6283
D6282
X1
X0X1
END
If X0=ON, making inverter forwardRun and the frequency is 40.00HZ
If X2=ON, making inverter Stop. So write frequency to 0 and make CANopen to Power disable.
MOV H7E D6282M1002
X0X2 X1
MOV K0 D6283
If X1=ON, making inverter reverse Run and the frequency is 30.00HZ
Inverter Ready
• CANopen set the inverter frequency based on RPM not Hz. So motor poles must be set correctly and MCU would get the frequency by 60F/P=RPM. The case up is 4 poles for motor.
• CANopen make inverter forward or reverse by speed command polarity. If it is positive, inverter would forward. If it is negative, inverter would reverse.
PLC Programming
Sync Sync Sync
PDO PDO PDO
N = (Syn. Period T(ms) * rate (kbs) )/250, namely among T, the total PDO amount of every slave can’t surpass N. Otherwise, it can’t realize the Syn. communication in T time.
The Syn. Mode of CANopen can send SYNC to slave quickly, so every slave almost can get the SYNC on time. But whether PDO sending is time-consuming should depend on CANopen Baud Rate and PDO number. If we want to make slaves act on the data master send synchronously in Syn. Period time, the Baud Rate should be set 1M bps and PDO number should satisfy the formula up.
7.3 How to determine the PDO number in the Syn. Mode
CANopen Matters need Attention
Thank You
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