Schneider Electric DS301 manual Address and baud rate, Commissioning the fieldbus network

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5 Commissioning

IL•1F CANopen DS301

5.2Address and baud rate

Up to 32 devices can be addressed in one CAN bus network branch and up to 127 devices in the extended network. Each device is identified by a unique address. The default node address for a device is 127.

The default baud rate is 125 kbaud.

Each device must be assigned its own node address, i.e. any given node address may be assigned only once in the network.

Setting address and baud rate The address is set directly at the device via parameter canAddr and the baud rate via parameter canBaud.

The baud rate must be the same for all devices in the fieldbus.

5.3Commissioning the fieldbus network

5.3.1Starting fieldbus mode

Configuration with SyCon Note on using the Hilscher configuration software SyCon:

Do not change the setting Geräteprofil (value = 0) in the

Knotenkonfiguration dialog box!

If this value is changed, communication with the drive will no longer work. However, the setting cannot be reset to the initial value.

To restore communication with the product:

Click the Knoten BootUp button in the Knotenkonfiguration dialog box.

Click Prüfe Knoten Type and Profile in the Knoten Auf- schaltreihenfolge dialog to skip this step.

Testing fieldbus operation After correct configuration of the transmission data, test fieldbus opera- tion.

This requires installation of a CAN configuration tool that displays CAN messages. The acknowledgement from the product is indicated by a boot-up message:

Switch the power supply of the product off and on again.

Observe the network messages shortly after switching on the device. The positioning controller sends a 1 byte boot-up message after initialization of the bus: 128 (80h)+node-Id.

With the node address factory-set to 127 (7Fh), boot-up message 255

(FFh) is transmitted via the bus. The drive can then be put into operation 11.2008 via NMT services.

V2.01,0198441113586,

54	Fieldbus interface

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Contents IL1F CANopen DS301 Important information Table of Contents Table of Contents IL1F CANopen DS301 Object directory Table of Contents IL1F CANopen DS301 Writing conventions and symbols Writing conventions and symbols IL1F CANopen DS301 Introduction About this manualCAN-Bus Operating modes and functions in fieldbus mode Fieldbus devices networked via can busDocumentation and literature references Can users and manufacturers organizationIntroduction IL1F CANopen DS301 Before you begin safety information Before you begin safety information IL1F CANopen DS301 CANopen description language BasicsCANopen technology Communication layersObjects Index hex Object groups Supported By the driveIL1F CANopen DS301 Basics CANopen profiles CANopen reference modelCommunication profile Object dictionaryIndex Subindex Object Meaning Index range Object groups Supported Hex By the drive Communication objects Communication objectsCOB ID with function code and node address TPDO4 Communication relationships Master slave relationshipsClient-server relationship Service data communication OverviewSDO data exchange SDO message 11 SDO message, exampleReading and writing data Message type Data length used Bytes14 Reading a parameter value Message type Data length used Byte Bytes15 Response with error message error response Process data communication PDO data exchange 16 PDO data exchangeUINT32 Dynamic and static PDO mapping 18 Requesting a message with RTR =Receive PDO RPDO4 master slave Structure of RPDO4State machine drivectrl Operating modes modeCtrl JOG@ Warning Transmit PDO TPDO4 product to masterStructure of TPDO4 20 Structure of TPDO4Handshake with Mode Toggle Bit Bit Name Description22 Mode Toggle Handshake, short movement Master Slave XendBasics IL1F CANopen DS301 Emergency service 23 Error message with the Emcy objectSynchronization 25 Sync message27 Cyclic and acyclic transmission Network management services NMT services for device controlNMT service Transition Meaning InitializationPersistent data memory NMT services for connection monitoring Command Specifier NMT service TransitionNode/Life guarding 31 Acknowledgement of the NMT slave 32 Node Guarding and Life Guarding with time intervals Installation Installation IL1F CANopen DS301 Commissioning Commissioning the deviceStarting fieldbus mode Address and baud rateCommissioning the fieldbus network Troubleshooting Error Error class Cause of error TroubleshootingSyCon CANopen configuration software Creating a new networkSelecting the CANopen master Setting the bus parameters Selecting and inserting nodes Operation OverviewOperation IL1F CANopen DS301 Transmit data Using SDO commandsWriting parameters Receive dataSynchronous errors Reading a parameterIndex Sub Data Description Operating Name Power Description State Stage Changing operating states with PDO4Bit no Value Meaning Switching the power stage on and off Triggering a Quick StopExample Come to a standstill System is to resume opera Resetting faults Examples for the operating modes with PDO4 Operating mode Profile Position absolute positioning Operating mode Profile Position relative positioning Operating mode Profile VelocityPosition setting Master --- SlaveOperating mode Homing Error signaling via PDO4 Asynchronous errorsPositioning running xerr=0 Operation IL1F CANopen DS301 Diagnostics and troubleshooting Fieldbus communication error diagnosticsError diagnostics via fieldbus Message objectsMessages on the device status Error code table CANopen error messagesError register Bit Message MeaningSDO error message Abort Error code MeaningObject code Meaning Coding Specifications for the objectsObject directory Data type Value range Data lengthIndex Subindex Designation Obj. code Data type Access Objects, overviewError register Objects of the productDevice type Manufacturer device name Bit coding, subindex 00h1008h 100ChIndex 100D h Object name Life time factor Object code Index 1018 h Object name Identity Object Object code Data type PDO Communication parameter Bit coding, subindex 02h Bit assignment subindex 01hBit 30 RTR bit Bit Acces Value Meaning1603h Receive PDO4 mapping Value description 1803h Transmit PDO4 communication parameter BitMeaningSubindex 03 h, inhibit time TPDO4 Meaning IL1F CANopen DS301 Object directory PDO4 mapping 1603h Glossary Units and conversion tablesTorque TemperatureRotation Moment of inertiaDefault value Factory setting Terms and AbbreviationsPower amplifier See power stage Index CanIndex IL1F CANopen DS301 IL1F CANopen DS301 Index NMT IL1F CANopen DS301 Index 102 Fieldbus interface