Inovance MD38CAN2 Manuel utilisateur
User Guide
MD38CAN2 (CANopen) Card
Optional Part for the MD Series Modular Vector AC Drive
MD38CAN2 (CANopen) Card User Guide
Copyright Shenzhen Inovance Technology Co., Ltd.
Shenzhen Inovance Technology Co., Ltd.
Add.: Building E, Hongwei Industry Park, Liuxian Road, Baocheng No. 70 Zone, Bao’an District, Shenzhen
Tel: +86-755-2979 9595
Fax: +86-755-2961 9897
Service Hotline: 400-777-1260
http: //www.inovance.com
Suzhou Inovance Technology Co., Ltd.
Add.: No. 16 Youxiang Road, Yuexi Town, Wuzhong District, Suzhou 215104, P.R. China
Tel: +86-512-6637 6666
Fax: +86-512-6285 6720
Service Hotline: 400-777-1260
http: //www.inovance.com
Min
A00
Data code 19010927
User Guide
Contents
1 Overview .................................................................................................................................. 1
2 Installation and Setting........................................................................................................... 2
2.1 Installation of MD380CAN2 ........................................................................................... 2
2.2 Hardware Layout ........................................................................................................... 2
2.3 Interface Description ..................................................................................................... 3
3 Protocol Description of the MD38CAN2................................................................................. 7
3.1 Software Feature ........................................................................................................... 7
3.2 COB-ID ............................................................................................................................ 7
3.3 Parameter Operation of AC Drive.................................................................................. 8
3.4 SDO Read-Write Operations........................................................................................ 10
3.5 PDO AC Drive Operation.............................................................................................. 13
4 Parameters Related to CANopen Communication ............................................................. 15
4.1 CANopen Card Enabling.............................................................................................. 15
4.2 Parameters Related to Communication Control....................................................... 15
4.3 Parameters Related to Communication Monitoring................................................. 16
4.4 Emergency Message and AC Drive Fault Description................................................ 19
5 Simple Diagnosis................................................................................................................... 21
5.1 Brief Introduction ........................................................................................................ 21
5.2 Diagnosis...................................................................................................................... 21
5.3 Troubleshooting .......................................................................................................... 21
6 Overview of the CANopen Protocol ..................................................................................... 22
6.1 Brief Introduction ........................................................................................................ 22
6.2 Object Dictionary......................................................................................................... 22
6.3 Common Communication Objects............................................................................. 23
7 Format Description of CANopen Message........................................................................... 24
7.1 NMT Module Control Message.................................................................................... 24
7.2 NodeGuarding Message .............................................................................................. 24
7.3 Heartbeat Message...................................................................................................... 25
Revision History ....................................................................................................................... 26
Warranty Agreement................................................................................................................ 27
1 Overview
- 1 -
1 Overview
Thank you for purchasing Inovance's MD38CAN2 (CANopen) card, the eld bus adapter
for the MD series AC drives.
The MD38CAN2 (CANopen) card is a communication extension card specialized for CAN
communication of the MD series AC drives. It enables the AC drive to access the high-
speed CAN communication network and implements control of the eld bus.
CANopen is a universal eld bus standard and devices that support this protocol can
access the CANopen network.
Before using the product, read this user guide thoroughly.
2 Installation and Setting
- 2 -
2 Installation and Setting
2.1 Installation of MD380CAN2
The MD38CAN2 card is installed inside Inovance's AC drive. Before the installation,
power o the AC drive, wait about 10 minutes until the charging indicator on the AC
drive becomes OFF, and insert the card in the position shown in the following gure.
Then, x the card with screws.
Note that the MD38CAN2 card cannot be inserted at power-on.
Figure 2-1 Installation of the MD38CAN2
2.2 Hardware Layout
The following gure shows the hardware layout of the MD380CAN2. CN1 is the CAN bus
communication interface; DIP switch S1 is used to congure the CAN bus termination
resistor; DIP switches S2 and S3 are used to set the baud rate and address for CAN
communication; the three LED indicators indicate the running state; SW1 is the factory
test interface, and do not connect it.
2 Installation and Setting
- 3 -
CN1
J2
SW1
3
2
1
S2 S3 J1
LED
H
S1
Figure 2-2 Hardware layout of the MD38CAN2
Mark Hardware Name Function Description
SW1 SW1 pin header It is used for the factory test. Do not connect it.
S2/S3 DIP switch It is used to set the baud rate and address for CAN
communication.
S1 Termination resistor setting It is used to set the termination resistor.
J1 Interface for connecting AC
drive It is used to connect the card to the AC drive.
HScrew xing hole It is used to x the card with the M3*8 self-taping
screw.
CN1 Wiring terminal It is the CANopen bus wiring terminal.
LED State indicator The three indicators are used to indicate the
running state.
2.3 Interface Description
1) Communication interface
Terminal CN1 is used to connect the CAN bus. It includes three interfaces, as described
in Table 2.1.
Table 2-1 Interface description of CN1
No. Mark Description
1 CANH Connect positive of the CAN bus.
2 CANL Connect negative of the CAN bus.
3 CGND Connect the shield of the CAN bus.
2 Installation and Setting
- 4 -
2) CAN bus connection
The following gure shows the CAN bus connection. The shielded twisted pairs are
recommended for CAN bus connection. The two sides of the bus are respectively
connected with two 120-Ω terminal matching resistors to prevent signal reection.
Single-point grounding is generally used for the shield.
120 Ω
* Built-in jumper
can be enabled on
the CANlink card.
*
CANL CANH
CANH
Four-core STP
CGND
Avoid sharing the common
ground between the grounding
cable and large-power devices.
Do not remove too much of the shielding layer.
CANL CANH
CGND
Servo drive
CANL
120 Ω
* Built-in jumper can
be enabled on the
CANlink card.
*
+24V
PLC with CAN card
Slave station
CANL CANH
CGND +24V
PLC with CAN card or remote
extension module
24 V power
+-
Master station
CANL CANH
CGND
AC drive with CAN card
Slave station Slave station
[Note 1] [Note 2]
[Note 1] Select a CANlink interface card according to the PLC type.
[Note 2] Select a CANlink interface card according to the AC drive type.
Figure 2-3 CAN bus connection
NOTE
◆Inovance's PLC and MDCAN2 are equipped with built-in resistors, which
can be enabled by the DIP switch.
3) CAN bus transmission distance
The CANopen bus transmission distance is directly related to the baud rate and
communication cable. The following table describes the relationship between the
maximum bus length and the baud rate.
Table 2-2 Relationship between the bus length and the baud rate
Baud Rate (bps) 1 M 500 K 250 K 125 K
Bus Length (m) 30 80 150 150
4) DIP switch
DIP switch S1 of MD38CAN2 composes a 2-digit DIP switch for setting the CAN bus
termination resistor. It is recommended that the termination resistor be used at two
sides of the network topology structure. The switch on the ON position indicates 1, and
indicates 0 otherwise.
Table 2-3 Setting the termination resistor for MD38CAN2
DIP Switch No. Termination Resistor
1 2
0 0 Disconnected
1 1 Connected
2 Installation and Setting
- 5 -
The DIP switches S2 and S3 compose an 8-digit DIP switch for setting the baud rate and
device address for CAN bus communication. The following gure shows the numbering
of DIP switches. Switches 1 and 2 are used to set the baud rate, and switches 3 to 8 are
used to set the CANopen device addresses. The switch on the ON position indicates 1,
and indicates 0 otherwise.
1 2 3 4 5 6 87
Baud rate CANopen device address
Figure 2-4 Numbering of MD38CAN2 DIP switches
■Baud rate
The following table describes the relationship between the DIP switch states and the
baud rates.
Table 2-4 Setting the baud rate for MD38CAN2
DIP Switch No. Baud Rate
1 2
0 0 125 Kbps
0 1 250 Kbps
1 0 500 Kbps
1 1 1 Mbps
■CANopen device address
MD38CAN2 provides six switches for setting the CANopen device addresses. Switch 3 is
the highest bit, and switch 8 is the lowest bit. Switches 3 to 8 correspond to b5 to b0 of a
16-bit binary integer. The address range to be set is 1–63, as listed in the following table.
Address 0 is reserved and cannot be used. If you set address 0, MD38CAN2 will not work.
Table 2-5 Addresses set by the DIP switches of the MD38CAN2
DIP Switch No. Address
3 4 5 6 7 8
0 0 0 0 0 0 Reserved
0 0 0 0 0 1 1
0 0 0 0 1 0 2
0 0 0 0 1 1 3
…… …
1 1 1 1 1 1 63
2 Installation and Setting
- 6 -
5) State indicators
Table 2-6 Description of MD38CAN2 state indicators
Indicator State Description
PWR
(red)
ON Power-on normal
OFF Power-on abnormal (check whether the installation is
correct)
ERR
(red)
ON Internal AC drive communication timeout
Blinking quickly CANopen address setting incorrect
Blinking twice CANopen emergency message indicating AC drive fault
RUN
(green)
ON CANopen "Operational"
Blinking CANopen "Pre-Operational"
OFF CANopen "Stopped"
3 Protocol Description of the MD38CAN2
- 7 -
3 Protocol Description of the MD38CAN2
3.1 Software Feature
MD38CAN2 supports ve protocols, described as follows:
■NodeGuarding: The master can query the device state with this function.
■Heartbeat: The slave reports its current state periodically to the master.
■Service data object (SDO): Only expedited transfer is supported. Two bytes of a
parameter is transferred each time.
■Three transmit process data objects (TPDOs) and three receive process data objects
(RPDOs)
■Emergency (EMCY) objects
3.2 COB-ID
CANopen provides many types of communication objects (COBs), each having dierent
features (for details, see the description of the CANopen standard protocol). Dierent
communication objects are used based on the actual application scenarios. MD38CAN2
adopts the pre-dened communication object identiers (COB-IDs), as follows:
1) Network management (NMT) object: 0x000
2) Synchronization (SYNC) object: 0x080
3) SDO:
■Transmit SDO: 0x600+Node-Id
■Receive SDO: 0x580+Node-Id
4) PDO:
■RPDO1: 0x200+Node-Id
■RPDO2: 0x300+Node-Id
■RPDO3: 0x400+Node-Id
■TPDO1: 0x180+Node-Id
■TPDO2: 0x280+Node-Id
■TPDO3: 0x380+Node-Id
5) EMCY object: 0x80+Node-Id
■Node-Id: Indicates the device ID (node address), and it is set by the DIP switch.
■COB-ID is xedly allocated and cannot be changed.
3 Protocol Description of the MD38CAN2
- 8 -
3.3 Parameter Operation of AC Drive
1) AC drive parameter mapping
■AC drive parameter address
The AC drive parameter addresses are classied into parameter addresses and non-
parameter addresses. For details, see the related description in the section of the
Modbus communication protocol in the MD380 Series High-Performance AC Drive User
Manual.
■Mapping description
The AC drive parameter addresses map to the range of 0x2000 to 0x20FF. The object
dictionary subindex can be obtained by adding one to the parameter number. For
example, if the AC drive parameter is F0-03, the object dictionary index is 0x20F0, and
the subindex is 0x04.
■Mapping description of AC drive parameters
The MD380 parameters are divided into three large groups, groups F0 to FF, groups A0
to AF, and groups U0 to UF.
The following table lists the mapping addresses at the read parameter operation.
Parameter Group CANopen Address Index
F0 to FF 0x20F0 to 0x20FF
A0 to AF 0x20A0 to 0x20AF
U0 to UF 0x2070 to 0x207F
The following table lists the mapping addresses at the read EEPROM operation.
Parameter Group CANopen Address Index
F0 to FF 0x20F0 to 0x20FF
A0 to AF 0x20A0 to 0x20AF
The following table lists the mapping addresses at the read RAM operation.
Parameter Group CANopen Address Index
F0 to FF 0x2000 to 0x200F
A0 to AF 0x2040 to 0x204F
You can obtain the CANopen subindex by adding one to the parameter index.
Parameter Group Index CANopen Subindex
0x0 to 0xFE 0x1 to 0xFF
Take the parameter F0-17 (Acceleration time 1) as an example.
Table des matières
