Slide 1/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Industrial Automation CANopen offer June 2003 Industrial Automation CANopen offer June 2003 Part 1: IA global offer overview Part 2: Product characteristics

Slide 2/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 1: IA global offer overview CANopen master PCMCIA card for Premium PLC: TSXCPP100 CANopen communication module for TEGO POWER/QUICKFIT motor starters: APP1CCO0 = 16I + 8O on bus APP1CCO2 = 16I + 8O on bus + 16I + 16O locally Products

Slide 3/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 1: IA global offer overview Advantys FTB CANopen IP67 monobloc discrete I/O splitter blocks 4 versions = 4 catalogue numbers FTB1CN 16E P0:16Ior 8I + 8 Diag FTB1CN 12E04S P0:12I + 4Oor 4I + 4O + 8 Diag FTB1CN 08E08S P0:8I + 8Oor 8I + 8 Diag FTB1CN 16C P0:16I/Oor 8I/O + 8I/O Diag Advantys STB CANopen communication module STB NCO2212 Products

Slide 4/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 1: IA global offer overview Products CANopen communication card for ATV38/ATV58/ATV58F variable speed drives VW3A58308 Programmable card with CANopen embedded for ATV38/ATV58/ATV58F variable speed drives VW3A581131

Slide 5/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 1: IA global offer overview ATV31 variable speed drive with integral CANopen link: ATV31Hxxxx: standard enclosure version ATV31Cxxxx: dust and damp proof enclosure version ATV31Kxxxx: kit version Lexium MHDA servodrive with integral CANopen link 17D xxxx 17D HP xxxx Products

Slide 6/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Since June 2003, Schneider no longer provides cables or connectors for CANopen, but recommends suppliers. A CANopen wiring offer will be available by the end of Part 1: IA global offer overview Accessories CANopen Sycon configuration software from HILSCHER: LXLFBCM Junction box for connecting the CANopen master card to 1 or 2 CANopen buses: TSXCPPACC1

Slide 7/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 1: IA global offer overview Recommended suppliers Cables - U.I.LAPP GmbH Schultze-Delitsch-Str. 25 D Stuttgart Germany Connectors - ERNI Elektroapparate GmbH Seestrasse 9 D Adelberg Germany - ERNI Connectique S.a.r.l, France 27 bis, avenue des Sources / CP 638 F LYON Cedex 09,

Slide 8/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Planned additions to the offer Low-cost CANopen Premium master module: TSXCPP110 Just one catalogue number comprising the PCMCIA card + cable + 9-pin SUBD Estimated price = 500 euro instead of 1962 euro Compatible with CANopen V4.01 (Heartbeat management, etc.) 1 physical port instead of 2 New version of configuration software: SYCSPULFUCD28M Estimated price = 890 euro instead of 1035 euro Conforms to the new =S= policy for registering software Single or multi-user licences (3,10, site) Supports the Heartbeat function and the latest EDS files Wiring accessories Cables, taps, extension cables, etc. Part 1: IA global offer overview July 2003 End 2003

Slide 9/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Planned additions to the offer Installation aid Terminal for testing the network wiring Network analyser (for expert users only) Tesys CANopen Model U Uses the same hardware as the dedicated BECKHOFF module Twido CANopen master module Part 1: IA global offer overview End

Slide 10/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics Type III PCMCIA card inserted in the processor module communication port slot (only 1 CANopen master per PLC). CANopen master card: TSXCPP100 2 indicator lights Brackets for fixing on PLC CPU Connecting cable, 0.6 m long, with 15-pin male SUBD at the end

Slide 11/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics Compatibility: Premium processors >= V5.0 except for TSX PL7 >= V4.0 Sycon configurator >= The Sycon configurator is used to generate the ***.co configuration file which can be imported from PL7 or loaded directly into the card. CANopen master card: TSXCPP100

Slide 12/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics Functions supported: Bus management Implicit exchange of PDOs (8 bytes max.) using %MW words Explicit exchange of SDOs by WRITE_VAR and READ_VAR functions Sending any identifier by the SEND_REQ function Fault identification, diagnostics and history by the SEND_REQ function CANopen master card: TSXCPP100

Slide 13/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics CANopen master card: TSXCPP100 (1) This maximum size can be exceeded if the configuration file is loaded directly into the card using the Sycon software. The maximum file size authorized by Sycon is 256 Kb. For 10 ATV58: Configuration file size = 4.6 Kb I/O data = 2 X 20 words For 20 ATV58: Configuration file size = 7.5 Kb I/O data = 2 X 40 words

Slide 14/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics Communication module placed on the left side of the motor starters Indicator lights Bus connection terminal block Switches for configuring the speed and address Local I/O connection terminal blocks (only on APP1CCO2 module) 24V power supply CANopen communication module for TEGO POWER/QUICKFIT

Slide 15/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics 2 catalogue numbers: APP1CCO0 16I + 8O on bus Controls 8 motor starter units APP1CCO2 16I + 8O on bus + 16I + 16O locally Controls 24 motor starter units CANopen communication module for TEGO POWER/QUICKFIT

Slide 16/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Main characteristics: Supported speeds:125, 250, 500 Kbps or 1 Mbps configured via switches Supported addresses: 1 to 63 configured via switches CAN V2.A-compliant:Identifier on 11 bits Allocation of identifiers:By address Profiles: DS-301 “Communication profile” DS-401 “I/O module”. Part 2: Product characteristics CANopen communication module for TEGO POWER/QUICKFIT

Slide 17/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Process Data Objects = PDO CANopen APP1CO00 and APP1CO02 modules can control a maximum of: 5 transmit PDOs 5 receive PDOs Only the first predefined transmit PDO (1800) and the first predefined receive PDO (1400) are used with TEGO motor starters. Supported transmission modes: Transmit: Synchronous and asynchronous, acyclic Receive: Synchronous and asynchronous Part 2: Product characteristics CANopen communication module for TEGO POWER/QUICKFIT

Slide 18/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Description of predefined PDOs on APP1CCO0: 1 receive PDO: 1400 (control) containing 1 byte: Control of 8 TEGO base contactors 1 transmit PDO: 1800 (monitoring) containing 2 bytes: Status of 8 auxiliary contacts on contactors Status of 8 auxiliary contacts on circuit-breakers Part 2: Product characteristics CANopen communication module for TEGO POWER/QUICKFIT

Slide 19/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Description of predefined PDOs on APP1CCO2: 1 receive PDO: 1400 (control) containing 4 bytes: Control of 8 TEGO sub-base contactors Control of 16 external outputs on sub-base 4th byte not used 1 transmit PDO: 1800 (monitoring) containing 4 bytes: Status of 8 auxiliary contacts on contactors Status of 8 auxiliary contacts on circuit-breakers Status of 16 external inputs on sub-base Part 2: Product characteristics CANopen communication module for TEGO POWER/QUICKFIT

Slide 20/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Service Data Object = SDO 1 transmit SDO, 1 receive SDO Allowing access to any dictionary object by message exchange. The various objects that can be accessed are not documented. Part 2: Product characteristics CANopen communication module for TEGO POWER/QUICKFIT

Slide 21/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Special Function Objects: SFO NMT services: CANopen minimum boot-up (no dynamic allocation of identifiers) SYNC object: Controls the transmission and reception of PDOs in synchronous mode EMCY object: Sent in the event of a fault on the motor starter Node guarding object: Supported. Sent on polling of motor starter status and detection of absence of polling Heartbeat object: Not supported Part 2: Product characteristics CANopen communication module for TEGO POWER/QUICKFIT

Slide 22/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Connection of sensors/actuator to 8 M12 sockets with status or diagnostic LEDs for each channel LEDs for bus and power supply diagnostics 24 VDC power supply for module Thumbwheels for configuring the module speed and address Connection of module to bus IP67 monobloc I/O splitter block on CANopen bus: FTB 1CNP0 Part 2: Product characteristics

Slide 23/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 IP67 monobloc I/O splitter block on CANopen bus: FTB 1CNP0 Part 2: Product characteristics 16I modules: FTB1CN 16E P0 Connection of 16 single sensors or 8 sensors with integral diagnostic function 12I/4O modules: FTB1CN 12E04S P0 Connection of 12 single sensors and 4 single actuators or 4 sensors and 4 actuators with integral diagnostic function 8I/8O modules: FTB1CN 08E08S P0 Connection of 8 single sensors and 8 single actuators or 8 actuators with integral diagnostic function Configurable 16I or 16O modules: FTB1CN 16C P0 Connection of 16 sensors, or 15 sensors and 1 actuator, or 14 sensors and 2 actuators, etc. 4 versions:

Slide 24/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Main characteristics: Supported speeds: 10, 20, 50, 125, 250, 500, 800 Kbps or 1 Mbps configured by thumbwheel with automatic recognition capability Address: 1 to 99 configured by 2 thumbwheels CAN V2.A-compliant:Identifier on 11 bits Allocation of identifiers: By address for PDOs 1400 and 1800 Manually for PDOs 1405 and 1805 Profiles: DS-301 “Communication profile” DS-401 “I/O module” Part 2: Product characteristics IP67 monobloc I/O splitter block on CANopen bus: FTB 1CNP0

Slide 25/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Process Data Objects = PDO CANopen IP67 monobloc I/O splitter blocks can control: 2 predefined transmit PDOs 2 predefined receive PDOs (with the exception of module FTB1CN 16E P0 16 inputs: only 1 PDO) Supported transmission modes: Transmit: Synchronous and asynchronous, cyclic and acyclic, on Remote frame Receive: Synchronous and asynchronous Part 2: Product characteristics IP67 monobloc I/O splitter block on CANopen bus: FTB 1CNP0

Slide 26/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics IP67 monobloc I/O splitter block on CANopen bus: FTB 1CNP0 Description of predefined PDOs Choice of 2 transmit PDOs (inputs) PDO 1800 = 1 word:Input/Diag PDO 1805 = 3 or 4 words:Input/Diag + Module-channel diagnostics Choice of 2 receive PDOs (outputs): PDO 1400 = 1 word:Outputs (except for module FTB1CN 16EP0) PDO 1405 = 1 word:Outputs + Configuration channels 1. Input or Diag.

Slide 27/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Service Data Object = SDO 1 transmit SDO, 1 receive SDO Allowing access to any dictionary object by message exchange. For example, can be used to set parameters for: Input logic:NO - NC contact Output logic: NO - NC status Fallback position for outputs: Maintain/fallback to 0/fallback to 1 in the event of communication problems Operation of channel 1 (pin 2): Input or sensor with integral diagnostics These parameters can be set when the network is initialised (Object Configuration window) or by application. Part 2: Product characteristics IP67 monobloc I/O splitter block on CANopen bus: FTB 1CNP0

Slide 28/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics IP67 monobloc I/O splitter block on CANopen bus: FTB 1CNP0 Special Function Objects: SFO NMT services: CANopen minimum boot-up (no dynamic allocation of identifiers) SYNC object: Controls the transmission and reception of PDOs in synchronous mode EMCY object: Sent in the event of a fault on the splitter block Node guarding object: Supported. Sent on polling of splitter block status and detection of absence of polling Heartbeat object: Not supported

Slide 29/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Communication module placed on the left side of the first cell (primary cell). Bus status indicator lights Bus connection socket 2 thumbwheels for configuring the speed and address on the bus (2 stages) Optional SIM memory card for backing up the cell bus configuration HE13 8-pin male connector for connecting the PC to the STB (configuration change, debugging) 24VDC power supply for module CANopen communication module for STB: STBNCO2212 Part 2: Product characteristics

Slide 30/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Main characteristics: Supported speeds:10, 20, 50, 125, 250, 500 Kbps or 1 Mbps configured by thumbwheel Address: 1 to 99 configured by thumbwheel CAN V2.A-compliant:Identifier on 11 bits Allocation of identifiers: By address for first 4 PDOs Manually for the others Profiles: DS-301 “Communication profile” DS-401 “I/O module” CANopen communication module for STB Part 2: Product characteristics

Slide 31/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Supported Process Data Objects: PDO The CANopen module can control a maximum of 32 receive PDOs and 32 transmit PDOs. Each PDO contains a maximum of 8 bytes of data. - The standard EDS file supplied with the CANopen module can be used to control a maximum of 4 receive PDOs and 4 transmit PDOs. - The Advantys configurator is used to configure the cell bus and to generate an EDS file specific to each bus configuration. The generated file can be used to control up to 32 receive PDOs and 32 transmit PDOs. - Customised PDOs can be defined in order to transport specific objects (diagnostics). Part 2: Product characteristics CANopen communication module for STB

Slide 32/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Supported PDOs in the standard EDS file 4 receive PDOs (outputs): PDO 1 : Discrete outputs (managed by 8-bit block) PDO 2 to 4 : Analogue outputs (managed by 16-bit block) 4 transmit PDOs (inputs): PDO 1 : Discrete inputs (managed by 8-bit block) PDO 2 to 4 : Analogue inputs (managed by 16-bit block) Transmission modes supported by the PDOs: Transmit: Synchronous and asynchronous, cyclic and acyclic Receive: Synchronous and asynchronous Part 2: Product characteristics CANopen communication module for STB

Slide 33/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Supported Service Data Objects: SDO 1 transmit SDO, 1 receive SDO Allowing access to any dictionary object by message exchange. Part 2: Product characteristics CANopen communication module for STB

Slide 34/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Manufacturer-Specific Objects These objects can be accessed via the PDO or SDO services. - Global Bits (Index: 4000H - Sub-index: 0) Indicates the type of error on the cell bus. - Communication Diagnostics (Index: 4001H - Sub-index: 0) Low-order 4001: Status of cell bus; High-order 4001: Bus diagnostics. - Node Configured (Index: 4002H - Sub-index: 0 to 8) Each bit represents a module on the cell bus. When the module is configured, the corresponding bit is set to 1. Part 2: Product characteristics CANopen communication module for STB

Slide 35/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Manufacturer-Specific Objects (continued) - Node Operational (Index: 4003H - Sub-index: 0 to 8) Each bit represents a module on the cell bus. When the module is operational, the corresponding bit is set to 1. - Node Error (Index: 4004H - Sub-index: 0 to 8) Each bit represents a module on the cell bus. When a fault occurs on the module, the corresponding bit is set to 1. - Node Assembly Fault (Index: 4005H - Sub-index: 0 to 8) Each bit represents a module on the cell bus. When a configuration fault occurs on the module, the corresponding bit is set to 1. Part 2: Product characteristics CANopen communication module for STB

Slide 36/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Manufacturer-Specific Objects (continued) - NIM Status (Index: 4006H - Sub-index: 0) Indicates the status of the communication module (NIM). Part 2: Product characteristics CANopen communication module for STB

Slide 37/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics Special Function Objects: SFO NMT services: CANopen minimum boot-up (no dynamic allocation of identifiers) SYNC object: Controls the transmission and reception of PDOs in synchronous mode EMCY object: Sent in the event of a fault on the cell Node guarding object: Supported. Sent on polling of the cell status and detection of absence of polling Heartbeat object: Supported. Periodic sending of cell status. CANopen communication module for STB

Slide 38/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics L-shaped electronic card connected to the drive control card. CANopen communication card for ATV58: VW3A58308 Switches for configuring the speed and the address Indicator lights Bus connection terminal block End of line switch Supplied with floppy disk containing the.eds description file for the device. Compatible with all ATV58 and ATV58F control cards.

Slide 39/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 CANopen communication card for ATV58: VW3A58308 Part 2: Product characteristics Main characteristics: Supported speeds:125, 250, 500 Kbps or 1 Mbps configured by switches Address: 1 to 63 configured by switches CAN V2.A-compliant:Identifier on 11 bits Allocation of identifiers: By address Profiles:DS-301 “Communication profile” DS402 V1.1: “Drives & motion control-Velocity Mode” DriveCom

Slide 40/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 CANopen communication card for ATV58: VW3A58308 Part 2: Product characteristics Process Data Objects = PDO The CANopen communication card for ATV58 can control: 1 predefined transmit PDO 1 predefined receive PDO Supported transmission modes: Transmit: Asynchronous, cyclic and acyclic, on Remote frame Receive: Asynchronous

Slide 41/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Supported PDO services (control): 1 receive PDO: 1400 (control) = 2 words: CMDD:DRIVECOM control register LFRD:DRIVECOM speed reference in rpm 1 transmit PDO: 1800 (monitoring) = 2 words: ETAD:DRIVECOM status word RFRD:DRIVECOM motor speed in rpm * Time intervals between the PDOs sent by the drive: minimum 50 ms, maximum 1 second. CANopen communication card for ATV58: VW3A58308 Part 2: Product characteristics

Slide 42/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 CANopen communication card for ATV58: VW3A58308 Part 2: Product characteristics Supported Service Data Objects: SDO 1 transmit SDO, 1 receive SDO Allowing access to any dictionary object by message exchange. These parameters can be set when the network is initialised (Object Configuration window) or by application.

Slide 43/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 CANopen communication card for ATV58: VW3A58308 Part 2: Product characteristics Special Function Objects: SFO NMT services: CANopen minimum boot-up (no dynamic allocation of identifiers) SYNC object: Not supported EMCY object: Sent in the event of a fault on the drive Node guarding object: Supported. Sent on polling of the splitter block status and detection of absence of polling Heartbeat object: Not supported

Slide 44/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Programmable card with CANopen link for ATV38/58: VW3A Part 2: Product characteristics L-shaped electronic card connected to the drive control card The CANopen link can operate in master or slave mode. Switches for configuring the speed and address Indicator lights 9-pin SUBD connector for connection to CANopen bus End of line resistor jumper Compatibility with control cards: ATV38: all versions - ATV58 >=4.2 ATV58F >=3.1IE27. Removable terminal block 8 configurable I/O with external 24V power supply RJ45 connector for connection to PC

Slide 45/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics Programmable card with CANopen link for ATV38/58: VW3A Main characteristics in master mode: Supported speeds: 125, 250, 500 Kbps or 1 Mbps if configured by switches 10, 20, 50, 100, 125, 250, 500, 800 Kbps or 1Mbps if configured by software Address: 1 to 32 nodes 9 PDOs maximum per slave CAN V2.A-compliant:Identifier on 11 bits Profiles: DSP 301 V4.01 and DSP 306 All CANopen network functions: (network starting, periodic exchanges, monitoring, diagnostics) are managed by integrated libraries in the PLC application.

Slide 46/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics Programmable card with CANopen link for ATV38/58: VW3A Main characteristics in slave mode: Supported speeds: 125, 250, 500 Kbps or 1 Mbps if configured by switches 10, 20, 50, 100, 125, 250, 500, 800 Kbps or 1Mbps if configured by software Address: 1 to 63 configured by switches or by software CAN V2.A-compliant:Identifier on 11 bits Allocation of identifiers: By address Profiles: DS 405 Programmable Devices IEC1131 All CANopen network functions: (network starting, periodic exchanges, monitoring, diagnostics) are managed by integrated libraries in the PLC application.

Slide 47/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics Programmable card with CANopen link for ATV38/58: VW3A Process Data Objects = PDO The CANopen programmable card for ATV58 can control: 1 8-byte user-definable transmit PDO 1 8-byte user-definable receive PDO Supported transmission modes: Transmit: Synchronous: acyclic, cyclic Asynchronous device profile and manufacturer specific Receive: Synchronous acyclic, cyclic Asynchronous device profile and manufacturer specific Capacity for using one PDO for direct slave-to-slave transmission (PDO linking) Content of PDOs assigned by application program.

Slide 48/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics Programmable card with CANopen link for ATV38/58: VW3A Supported Service Data Objects: SDO 1 transmit SDO, 1 receive SDO For accessing card inputs/outputs. The drive parameters can be written or read with an application program, by reserving two words from the PDOs using a PKW-type indexed addressing system.

Slide 49/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics Programmable card with CANopen link for ATV38/58: VW3A Special Function Objects: SFO NMT services: CANopen minimum boot-up (no dynamic allocation of identifiers) SYNC object: Supported EMCY object: Controlled from a function block The user has to enter the code in the function block Node guarding object: Supported. Sent on polling of the splitter block status and detection of absence of polling Heartbeat object: Not supported.

Slide 50/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 The Altivar 31 is fitted with a female RJ45 connector which supports both Modbus and CANopen protocols. Both protocols can be used simultaneously. The transmission speed and the address are configured via the integral HMI. ATV31 variable speed drive with integral CANopen link Part 2: Product characteristics

Slide 51/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics Main characteristics: Supported speeds:10, 20, 50, 125, 250, 500 Kbps or 1 Mbps configured via integral HMI Address: 1 to 127 configured via integral HMI CAN V2.A-compliant:Identifier on 11 bits Allocation of identifiers: By address for the first PDO (PDO1) Manually for PDO5 Profiles:DS-301 V4 “Communication profile” DS402 “Drives & motion control-Velocity Mode” DriveCom ATV31 variable speed drive with integral CANopen link

Slide 52/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics Process Data Objects = PDO The ATV31 can control: 2 predefined transmit PDOs 2 predefined receive PDOs Supported transmission modes: Transmit: PDO1:Asynchronous, acyclic PDO5:Synchronous, asynchronous, and acyclic, on Remote frame Receive: PDO1:Asynchronous PDO5:Synchronous, asynchronous ATV31 variable speed drive with integral CANopen link

Slide 53/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Supported PDO services (control): Receive PDO1: 1400 (control) = 1 word CMDD:DRIVECOM control register Receive PDO5: 1405 (control) = 2 words CMDD:DRIVECOM control register LFRD:DRIVECOM speed reference in rpm with the possibility of adding 2 extra words from the object dictionary. Transmit PDO1: 1800 (monitoring) = 1 word ETAD:DRIVECOM status word Transmit PDO5: 1805 (monitoring) = 2 words ETAD:DRIVECOM status word RFRD:DRIVECOM motor speed in rpm with the possibility of adding 2 extra words from the object dictionary. Part 2: Product characteristics ATV31 variable speed drive with integral CANopen link

Slide 54/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics Supported Service Data Object: SDO 1 transmit SDO, 1 receive SDO Allowing access to any dictionary object by message exchange. These parameters can be set when the network is initialised (Object Configuration window) or by application. ATV31 variable speed drive with integral CANopen link

Slide 55/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics Special Function Objects: SFO NMT services: CANopen minimum boot-up (no dynamic allocation of identifiers) SYNC object: Supported EMCY object: Sent in the event of a fault on the drive Node guarding object: Supported. Sent on polling of the splitter block status and detection of absence of polling Heartbeat object: Supported ATV31 variable speed drive with integral CANopen link

Slide 56/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 LEXIUM servodrive with integral CANopen link Address configuration arrows 9-pin SUBD CANopen communication port on top panel of module

Slide 57/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 LEXIUM servodrive with integral CANopen link Main characteristics: Supported speeds:10, 20, 50, 125, 250, 500 Kbps or 1 Mbps configured by switches or Unilink software Address: 1 to 99 configured by switches or Unilink software CAN V2.A-compliant:Identifier on 11 bits Allocation of identifiers: By address Profiles:DS-301 “Communication profile” DS402 “Drives & motion control-Velocity Mode” DriveCom

Slide 58/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 LEXIUM servodrive with integral CANopen link Process Data Objects = PDO The LEXIUM can control: 2 predefined transmit PDOs 2 predefined receive PDOs Supported transmission modes: Transmit: Asynchronous, acyclic Receive: Asynchronous

Slide 59/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 LEXIUM servodrive with integral CANopen link Supported PDO services (control): Receive PDO1: 1400 (control) = 1 word CMDD:DRIVECOM control register Receive PDO2: 1401 (control) = 4 words ASCII channel Transmit PDO1: 1800 (monitoring) = 1 word ETAD:DRIVECOM status word Transmit PDO2: 1805 (monitoring) = 4 words ASCII channel

Slide 60/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 LEXIUM servodrive with integral CANopen link The communication channels are configured by the SyCon tool LEXIUM addressing on CANopen is configured by the SyCon tool The communication channels are configured by the PL7 application via WRITE VAR according to the type of PDO required Exchange by %MW according to PL7 configuration 8 bytes per channel Supported PDO services (implicit exchange):

Slide 61/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Supported SDO services (configuration, adjustment, etc.): 1 receive SDO: handling of write or read request 1 transmit SDO: handling of write or read request The length depends on the SDO (Index/Sub-index) and varies from 1 to 4 bytes. LEXIUM servodrive with integral CANopen link Gestion applicative des requêtes READ_VAR et WRITE_VAR LEXIUM addressing on CANopen is configured by the SyCon tool Application management of READ_VAR and WRITE_VAR requests

Slide 62/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 LEXIUM servodrive with integral CANopen link Special Function Objects: SFO NMT services: CANopen minimum boot-up (no dynamic allocation of identifiers) SYNC object: Not supported EMCY object: Sent in the event of a fault on the drive Node guarding object: Supported. Sent on polling of the splitter block status and detection of absence of polling Heartbeat object: Not supported

Slide 63/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics Used to generate a configuration file for the CANopen master PCMCIA card. This configuration can be imported from PL7 PRO/PL7 Junior or loaded directly from Sycon software. CANopen Sycon master configuration software from HILSCHER

Slide 64/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Part 2: Product characteristics Activity indicators channels A and B Junction box for connecting the master card 9-pin SUBD connector for connecting the slaves on channel B 9-pin SUBD sub-base for connecting the slaves on channel A 15-pin SUBD sub-base for connecting the master PCMCIA card