Lenze CANopen control technology Manuel d'utilisateur

L KHBCANPCBAUTO13383676Ä.GEmäCommunication manualCANopen control technologyCommissioning & ConfigurationPC-based AutomationL-force Controls

Control technology | CANopen communication manualAbout this documentationTerminology used10 L DMS 4.2 EN 07/2011 TD17 1.3 Terminology usedTerm Meaning

Control technology | CANopen communication manualAppendix»PCAN-View« for diagnostic purposes100 L DMS 4.2 EN 07/2011 TD17 Now the CAN telegrams are co

DMS 4.2 EN 07/2011 TD17 L 101Control technology | CANopen communication manualAppendixUse »PCAN-View« to set all nodes to the "Operational"

Control technology | CANopen communication manualAppendixNotes on visualisation using »VisiWinNET®«102 L DMS 4.2 EN 07/2011 TD17 15.3 Notes on visuali

DMS 4.2 EN 07/2011 TD17 L 103Control technology | CANopen communication manualIndex 16 IndexAAddressing the CANopen and PROFIBUS nodes 85Appendix 99Ap

Control technology | CANopen communication manualIndex104 L DMS 4.2 EN 07/2011 TD17 EEngineering tools 40, 73FField devices 17GGeneral data 20Going on

© 07/2011)Lenze Automation GmbHGrünstraße 36D-40667 MeerbuschGermanyService Lenze Service GmbHBreslauer Straße 3D-32699 ExtertalGermany+49 (0)21 32 /

DMS 4.2 EN 07/2011 TD17 L 11Control technology | CANopen communication manualAbout this documentationNotes used 1.4 Notes usedThe following signal wor

Control technology | CANopen communication manualSafety instructions12 L DMS 4.2 EN 07/2011 TD17 2 Safety instructionsPlease observe the following saf

DMS 4.2 EN 07/2011 TD17 L 13Control technology | CANopen communication manualThe "PC-based Automation" system 3 The "PC-based Automatio

Control technology | CANopen communication manualThe "PC-based Automation" system14 L DMS 4.2 EN 07/2011 TD17  Engineering tools for the En

DMS 4.2 EN 07/2011 TD17 L 15Control technology | CANopen communication manualSystem bus (CAN) / CANopenCANopen (Logic) / CANopen (Motion) 4 System bus

Control technology | CANopen communication manualSystem bus (CAN) / CANopenCANopen (Logic) / CANopen (Motion)16 L DMS 4.2 EN 07/2011 TD17 CANopen (Log

DMS 4.2 EN 07/2011 TD17 L 17Control technology | CANopen communication manualSystem bus (CAN) / CANopenCANopen (Logic) / CANopen (Motion) 4.1.2 Field

Control technology | CANopen communication manualSystem bus (CAN) / CANopenCANopen Hardware for your Industrial PC18 L DMS 4.2 EN 07/2011 TD17 4.2 CAN

DMS 4.2 EN 07/2011 TD17 L 19Control technology | CANopen communication manualSystem bus (CAN) / CANopenCANopen Hardware for your Industrial PC Possibl

2 L DMS 4.2 EN 07/2011 TD17

Control technology | CANopen communication manualTechnical dataGeneral data20 L DMS 4.2 EN 07/2011 TD17 5 Technical data5.1 General dataField ValuesCo

DMS 4.2 EN 07/2011 TD17 L 21Control technology | CANopen communication manualTechnical dataTechnical data of the MC-CAN2 communication card 5.2 Techni

Control technology | CANopen communication manualTechnical dataBus cable length22 L DMS 4.2 EN 07/2011 TD17 5.4 Bus cable length5.4.1 Total cable leng

DMS 4.2 EN 07/2011 TD17 L 23Control technology | CANopen communication manualTechnical dataBus cable length 5.4.2 Segment cable lengthThe segment cabl

Control technology | CANopen communication manualTechnical dataBus cable length24 L DMS 4.2 EN 07/2011 TD17 5.4.3 Check use of repeaterCompare the val

DMS 4.2 EN 07/2011 TD17 L 25Control technology | CANopen communication manualPlanning the CANopen network 6 Planning the CANopen networkBefore establi

Control technology | CANopen communication manualPlanning the CANopen network26 L DMS 4.2 EN 07/2011 TD17 COB-IDs acc. to DS301 Observe device-specif

DMS 4.2 EN 07/2011 TD17 L 27Control technology | CANopen communication manualPlanning the CANopen network The COB-IDs for your CANopen network can be

Control technology | CANopen communication manualPlanning the CANopen networkExample of an overview screen28 L DMS 4.2 EN 07/2011 TD17 6.1 Example of

DMS 4.2 EN 07/2011 TD17 L 29Control technology | CANopen communication manualPlanning the CANopen networkDevice specifications of the field devices 6.

DMS 4.2 EN 07/2011 TD17 L 3Control technology | CANopen communication manual Contents1 About this documentation . . . . . . . . . . . . . . . . . . .

Control technology | CANopen communication manualPlanning the CANopen networkDevice specifications of the field devices30 L DMS 4.2 EN 07/2011 TD17 6.

DMS 4.2 EN 07/2011 TD17 L 31Control technology | CANopen communication manualPlanning the CANopen networkDevice specifications of the field devices 6.

Control technology | CANopen communication manualPlanning the CANopen networkDevice specifications of the field devices32 L DMS 4.2 EN 07/2011 TD17 6.

DMS 4.2 EN 07/2011 TD17 L 33Control technology | CANopen communication manualPlanning the CANopen networkDevice specifications of the field devices 6.

Control technology | CANopen communication manualPlanning the CANopen networkDevice specifications of the field devices34 L DMS 4.2 EN 07/2011 TD17 6.

DMS 4.2 EN 07/2011 TD17 L 35Control technology | CANopen communication manualPlanning the CANopen networkDevice specifications of the field devices 6.

Control technology | CANopen communication manualPlanning the CANopen networkDevice specifications of the field devices36 L DMS 4.2 EN 07/2011 TD17 Ba

DMS 4.2 EN 07/2011 TD17 L 37Control technology | CANopen communication manualPreparing the field devicesInstalling field devices 7 Preparing the field

Control technology | CANopen communication manualPreparing the field devicesConnecting the Engineering PC to the Industrial PC38 L DMS 4.2 EN 07/2011

DMS 4.2 EN 07/2011 TD17 L 39Control technology | CANopen communication manualPreparing the field devicesConnecting the Engineering PC to the Industria

Control technology | CANopen communication manual4 L DMS 4.2 EN 07/2011 TD17 8 Commissioning the CANopen Logic bus. . . . . . . . . . . . . . . . . .

Control technology | CANopen communication manualCommissioning the CANopen Logic busOverview of the commissioning steps40 L DMS 4.2 EN 07/2011 TD17 8

DMS 4.2 EN 07/2011 TD17 L 41Control technology | CANopen communication manualCommissioning the CANopen Logic busCreating a project folder 8.2 Creating

Control technology | CANopen communication manualCommissioning the CANopen Logic busCommissioning of field devices42 L DMS 4.2 EN 07/2011 TD17 8.3 Com

DMS 4.2 EN 07/2011 TD17 L 43Control technology | CANopen communication manualCommissioning the CANopen Logic busCommissioning of field devices 8.3.1 G

Control technology | CANopen communication manualCommissioning the CANopen Logic busCommissioning of field devices44 L DMS 4.2 EN 07/2011 TD17 8.3.2 C

DMS 4.2 EN 07/2011 TD17 L 45Control technology | CANopen communication manualCommissioning the CANopen Logic busCommissioning of field devices 7. Conn

Control technology | CANopen communication manualCommissioning the CANopen Logic busCommissioning of field devices46 L DMS 4.2 EN 07/2011 TD17 8. Expo

DMS 4.2 EN 07/2011 TD17 L 47Control technology | CANopen communication manualCommissioning the CANopen Logic busCommissioning of field devices 8.3.3 C

Control technology | CANopen communication manualCommissioning the CANopen Logic busCommissioning of field devices48 L DMS 4.2 EN 07/2011 TD17 6. Set

DMS 4.2 EN 07/2011 TD17 L 49Control technology | CANopen communication manualCommissioning the CANopen Logic busCommissioning of field devices 7. Expo

DMS 4.2 EN 07/2011 TD17 L 5Control technology | CANopen communication manual 9 Commissioning the CANopen Motion bus. . . . . . . . . . . . . . . . . .

Control technology | CANopen communication manualCommissioning the CANopen Logic busCommissioning of field devices50 L DMS 4.2 EN 07/2011 TD17 8.3.4 C

DMS 4.2 EN 07/2011 TD17 L 51Control technology | CANopen communication manualCommissioning the CANopen Logic busCommissioning of field devices 8.3.5 C

Control technology | CANopen communication manualCommissioning the CANopen Logic busCommissioning of field devices52 L DMS 4.2 EN 07/2011 TD17 8.3.6 C

DMS 4.2 EN 07/2011 TD17 L 53Control technology | CANopen communication manualCommissioning the CANopen Logic busCommissioning of field devices 8.3.7 C

Control technology | CANopen communication manualCommissioning the CANopen Logic busCreating a PLC program54 L DMS 4.2 EN 07/2011 TD17 8.4 Creating a

DMS 4.2 EN 07/2011 TD17 L 55Control technology | CANopen communication manualCommissioning the CANopen Logic busCreating a PLC program 4. Create a blo

Control technology | CANopen communication manualCommissioning the CANopen Logic busCreating a PLC program56 L DMS 4.2 EN 07/2011 TD17 5. Create the c

DMS 4.2 EN 07/2011 TD17 L 57Control technology | CANopen communication manualCommissioning the CANopen Logic busConfiguring the CAN master 8.5 Configu

Control technology | CANopen communication manualCommissioning the CANopen Logic busConfiguring the CAN master58 L DMS 4.2 EN 07/2011 TD17 • Set the

DMS 4.2 EN 07/2011 TD17 L 59Control technology | CANopen communication manualCommissioning the CANopen Logic busIntegrating field devices (slaves) int

Control technology | CANopen communication manualAbout this documentation6 L DMS 4.2 EN 07/2011 TD17 1 About this documentationThis documentation ...

Control technology | CANopen communication manualCommissioning the CANopen Logic busSetting of CAN parameters and CAN mapping60 L DMS 4.2 EN 07/2011 T

DMS 4.2 EN 07/2011 TD17 L 61Control technology | CANopen communication manualCommissioning the CANopen Logic busSetting of CAN parameters and CAN mapp

Control technology | CANopen communication manualCommissioning the CANopen Logic busSetting of CAN parameters and CAN mapping62 L DMS 4.2 EN 07/2011 T

DMS 4.2 EN 07/2011 TD17 L 63Control technology | CANopen communication manualCommissioning the CANopen Logic busSetting of CAN parameters and CAN mapp

Control technology | CANopen communication manualCommissioning the CANopen Logic busSetting of CAN parameters and CAN mapping64 L DMS 4.2 EN 07/2011 T

DMS 4.2 EN 07/2011 TD17 L 65Control technology | CANopen communication manualCommissioning the CANopen Logic busCreating a program code to control the

Control technology | CANopen communication manualCommissioning the CANopen Logic busCreating a program code to control the device66 L DMS 4.2 EN 07/20

DMS 4.2 EN 07/2011 TD17 L 67Control technology | CANopen communication manualCommissioning the CANopen Logic busCreating a program code to control the

Control technology | CANopen communication manualCommissioning the CANopen Logic busPreparing the restart68 L DMS 4.2 EN 07/2011 TD17 8.9 Preparing th

DMS 4.2 EN 07/2011 TD17 L 69Control technology | CANopen communication manualCommissioning the CANopen Logic busPreparing the restart 8.9.1 Special fe

DMS 4.2 EN 07/2011 TD17 L 7Control technology | CANopen communication manualAbout this documentation Further technical documentations for Lenze compon

Control technology | CANopen communication manualCommissioning the CANopen Logic busPreparing the restart70 L DMS 4.2 EN 07/2011 TD17 8.9.3 Special fe

DMS 4.2 EN 07/2011 TD17 L 71Control technology | CANopen communication manualCommissioning the CANopen Logic busPreparing the restart  Automatic with

Control technology | CANopen communication manualCommissioning the CANopen Logic busPreparing the restart72 L DMS 4.2 EN 07/2011 TD17  Automatic with

DMS 4.2 EN 07/2011 TD17 L 73Control technology | CANopen communication manualCommissioning the CANopen Motion busOverview of the commissioning steps 9

Control technology | CANopen communication manualCommissioning the CANopen Motion busCommissioning of field devices74 L DMS 4.2 EN 07/2011 TD17 9.2 Co

DMS 4.2 EN 07/2011 TD17 L 75Control technology | CANopen communication manualCommissioning the CANopen Motion busCreating a PLC program 9.3 Creating a

Control technology | CANopen communication manualCommissioning the CANopen Motion busCreating a PLC program76 L DMS 4.2 EN 07/2011 TD17 4. Create a bl

DMS 4.2 EN 07/2011 TD17 L 77Control technology | CANopen communication manualCommissioning the CANopen Motion busCreating a PLC program 5. Create the

Control technology | CANopen communication manualCommissioning the CANopen Motion busCreating a Motion task78 L DMS 4.2 EN 07/2011 TD17 9.4 Creating a

DMS 4.2 EN 07/2011 TD17 L 79Control technology | CANopen communication manualCommissioning the CANopen Motion busCreating a control configuration 9.5

Control technology | CANopen communication manualAbout this documentationDocument history8 L DMS 4.2 EN 07/2011 TD17 Target groupThis documentation is

Control technology | CANopen communication manualCommissioning the CANopen Motion busCreating a control configuration80 L DMS 4.2 EN 07/2011 TD17 12.

DMS 4.2 EN 07/2011 TD17 L 81Control technology | CANopen communication manualCommissioning the CANopen Motion busCreating a control configuration When

Control technology | CANopen communication manualCommissioning the CANopen Motion busCreating a program code to control the Motion drives82 L DMS 4.2

DMS 4.2 EN 07/2011 TD17 L 83Control technology | CANopen communication manualCommissioning the CANopen Motion busOptimisation of signal propagation de

Control technology | CANopen communication manualCommissioning the CANopen Motion busOptimisation of signal propagation delays (for HighLine CiA402 on

DMS 4.2 EN 07/2011 TD17 L 85Control technology | CANopen communication manualCANopen with PROFIBUS 10 CANopen with PROFIBUSThe CANopen bus system can

Control technology | CANopen communication manualThe function library LenzeCANdrive.lib86 L DMS 4.2 EN 07/2011 TD17 11 The function library LenzeCANdr

DMS 4.2 EN 07/2011 TD17 L 87Control technology | CANopen communication manualDefining the minimum cycle time of the PLC projectCalculating the total a

Control technology | CANopen communication manualDefining the minimum cycle time of the PLC projectDetecting the task utilisation of the application (

DMS 4.2 EN 07/2011 TD17 L 89Control technology | CANopen communication manualDefining the minimum cycle time of the PLC projectDetecting the task util

DMS 4.2 EN 07/2011 TD17 L 9Control technology | CANopen communication manualAbout this documentationConventions used 1.2 Conventions usedThis document

Control technology | CANopen communication manualDefining the minimum cycle time of the PLC projectCalculating the minimum cycle time90 L DMS 4.2 EN 0

DMS 4.2 EN 07/2011 TD17 L 91Control technology | CANopen communication manualDefining the minimum cycle time of the PLC projectOptimising the system 1

Control technology | CANopen communication manualDiagnosticsReading codes92 L DMS 4.2 EN 07/2011 TD17 13 Diagnostics13.1 Reading codesThe »Engineer« a

DMS 4.2 EN 07/2011 TD17 L 93Control technology | CANopen communication manualDiagnosticsError messages if communication card MC-CAN2 is not available

Control technology | CANopen communication manualDiagnosticsThe global variable wState94 L DMS 4.2 EN 07/2011 TD17 13.5 The global variable wStateWhen

DMS 4.2 EN 07/2011 TD17 L 95Control technology | CANopen communication manualDiagnosticsThe global variable wState Additional information on the type

Control technology | CANopen communication manualParameter reference96 L DMS 4.2 EN 07/2011 TD17 14 Parameter referenceThis chapter adds the parameter

DMS 4.2 EN 07/2011 TD17 L 97Control technology | CANopen communication manualParameter referenceParameters of the MC-CAN2 communication card in slot 1

Control technology | CANopen communication manualParameter referenceParameters of the MC-CAN2 communication card in slot 298 L DMS 4.2 EN 07/2011 TD17

DMS 4.2 EN 07/2011 TD17 L 99Control technology | CANopen communication manualAppendix»PCAN-View« for diagnostic purposes 15 AppendixThis chapter descr