Can 1 CANopen, 109, Pin Name Description | Baldor MN1274 06/2001

B.2 CAN 1 (CANopen)

This section provides an introduction to CANopen. peripherals and how they are configured to operate with the MintDrive.

B.2.1 CAN 1 (CANopen) - X9

	Location	Connector X9
		Pin	Name	Description
		1	-	Not connected
		2	CAN1-	CAN channel 1 negative
		3	CAN1 0V	Ground/earth reference for CAN signals
		4	-	Not connected
		5	Shield	Cable shield
6	1	6	-	Not connected
6
		7	CAN1+	CAN channel 1 positive
9	5	8	-	Not connected
		9	CAN1 V+	CAN remote node power V+ (12-24V)
	Description CANopen interface using a 9-pin female D-type connector
		with CiA standard DS102 pin configuration

CAN1 is opto-isolated and is intended for use as the machine-wide fieldbus using the open protocol CANopen. Practical operation of this CAN channel is limited to 500Kbaud owing to the propagation delay of the opto-isolators.

Correct operation of CAN1 can only be achieved with screened/shielded twisted pair cabling. CAN1+ and CAN1- must form a twisted pair with the shield connected to the connector backshell. CAN1 must be terminated by a 120Ω resistor connected between CAN1+ and CAN1- at both ends of the network and nowhere else.

If the MintDrive is at the end of the network then ensure that the CAN1 DIP switch (located on the front panel) is in the ON position, which will connect an internal terminating resistor. A convenient way of wiring a chain of devices is by using a T-connector.

Note: The CAN1 port must be powered with a DC voltage in the range 12-24V.

Baldor HMI		CAN1	CAN1	End node
Operator Panel		MintDrive A	MintDrive B	End node
2	Twisted pair	2	Twisted pairs
2		2	2	2
7	TR	7	7	7
	TR			TR
	+24VDC IN	9	9	9
	0V	3	3	3

Figure 28 - Typical MintDrive CAN1 network connections

109

Image 121

Baldor MN1274 06/2001 installation manual Can 1 CANopen, 109, Pin Name Description

Contents

MN1274 06/2001 Installation ManualPage Iii Safety Notice Circuit amperes listed here at rated voltage Page Contents Viii Input / Output Mint WorkBench Appendices Tuning 129 Xii Introduction MintDrive features Identifying the catalog number Receiving and inspectionDate Meaning Alternatives Monitor LED display MintDrive indicatorsCan 1 and 2 LEDs Ready LED Units and abbreviations Outline You must read all the sections in Basic InstallationHardware requirements Each step should be followed in sequence CBL Other information needed for installation Power sources2 RS485 / RS422 systems Tools and miscellaneous hardware Mechanical installation and location requirements Package dimensions Dimensions and mounting Power connections Grounding Single phase unitsMintDrive Power disconnect and protection devices Input power conditioningUngrounded distribution systems Circuit breaker and fuse, single phase, package size C Delay Wire sizes Single phase connection to package size C Single phase connection to package size a or B 8 24V control supply Three phase connection to package size CInput current Output voltage DC Bus power connections from package size CMintDrive External drive Power supply filters Nominal output voltage Motor connections Motor circuit contactors Regeneration resistor mounting Regeneration resistor Dynamic Brake resistorBaldor regeneration resistor catalog numbers Feedback connections Pin Resolver function Resolver optionBaldor Motor Signal name Motor / cable Resolver cable wire Pin Color Resolver cable pin configuration Pin Encoder function Encoder option This completes the basic installation Drive enable Analog I/O Input / Output Mint keyword Analog Input, Single EndedADC.2 Description ADC.3 Analog Input, Differential Analog Inputs, Differential Pins NameADC.0 ADC.1 Page AUXDAC.2 AUXDAC.3 Analog Outputs, Bipolar AOUT0 and AOUT1 analog outputs AUXDAC.0 AUXDAC.1 Digital I/O Pin Name Mint keyword Digital InputsExternal +24VDC supply Active high =+24VDC =0V Active low X13 Thermal switch connection X5 Digital inputs External +24VDC supply Active high A=+24VDC B=0V Active low Breakout board Special functions on inputs DIN0 and DIN2Input Function OUT.5 Digital OutputsOUT.6 OUT.7 OUT.2 OUT.4OUT.0 OUT.3 Simulated encoder output Other I/OPin Name MintDrive NextMoveBX encoder input Differential encoder connections Master auxiliary encoder input Auxiliary encoder circuit Pin RS232 Name RS485 / RS422 name Serial port RS232 serial port connections Using RS232 cable Master Controller Multidrop using RS485 / RS422 cable Baldor HMI PLC Port Connecting Baldor HMI Operator Panels Can peripherals Optional breakout board for connector Installing the software Connecting the MintDrive to the PC Starting the MintDrive Mint Configuration Tool Startup Wizard coarse tuning Page Page An introduction to closed loop control MCT Startup Wizard fine-tuningPage Fine-tuning the speed loop Fine-tuning the position loop Click Start Move Jog test Completing the Startup Wizard Click Mint Configuration Tool in Wizard Mode Digital input configuration MCT Wizard hardware configuration Digital output configuration Axis0 error configuration Axis0 parameter configuration Miscellaneous configuration Axis0 tuning configuration Completing the configuration wizard Page Mint WorkBench Completing configuration Selecting the controller Using WorkBenchMenus and buttons Standard toolbar functions Macro toolbar functions Motion toolbar functionsStatus bar Can window Quick Watch tab Watch window 740 × L × A∕V Speed Loop tab Position Loop tab Capture tab Editor windows Configuration windowProgram window Terminal window Useful commands for testingTo start the motor turning slowly, type To stop the motor turning, type To turn a distance of 5 turns, type Combining commands on one lineTo change the speed, type CON Firmware updateNEW ProgPage General specifications Specifications Power Resolver feedback Rectifier and regeneration Encoder feedback Control signals Environmental Page Problem diagnosis Troubleshooting Communication Problem Check Corrupted. Use Release Power up Data Defaulting to Tuning Mint gains Config = cfCURRENTAMPLIFIER Code Problem Check Print DrivefaultReady LED is red Parameter Code Problem Check 7 can Problem Check Page Purpose Name Abbreviation / keyword Tuning a Introduction Figure A.1 MintDrive Closed Loop System Closed loop control 100 Position loop Current loop Speed loopMintDrive operational modes 101 Tuning the position loop for a servo drive Tuning the position loop for a velocity servo drivePosition Loop gain terms 102 KINTMODE=2 103 Position Loop Tuning using a trapezoidal move type Position Loop Tuning using a step move104 Saving tuning information Tuning the position loop for a torque servo driveCONFIG=6 105 106 107 MintDrive capabilitiesCable length Maximum bit rate Resistance Conductor area 108 Can 1 CANopen Can 1 CANopen109 Pin Name Description 110 What is CANopen?Type Mint Constant Node Type Network manager node Configuring nodesScanning nodes 111 112 Connecting to nodes? NODELIVE.1.2 ? NODETYPE.1.2 113 Monitoring can eventsEvent Number Mint Constant Singlecast communication Controller nodesBroadcast communication 114 9 I/O nodes Digital I/O accessComms array subroutines 115 Extra Analog I/O Functionality Analog I/O Access116 117 HMI Operator PanelsREMOTEADCDELTA.1.2.3 = 118 Can 2 Baldor can Can 2 Baldor can119 Preparing the MintDrive Connecting the PC, MintDrive and can peripheralPreparing the can peripheral 120 Node type Type Mint Constant Default Node ID Baud rate Static configurationRemotesetup Node IDs 122 Adding the node to the networkNODETYPE.7 = Controlling the can peripheral Monitoring can Bus communicationsNormal operation 123 124 KeypadNodeBUS=2 Pause NODELIVE.14 125 IoNode 24/24 126 Example can networkNODESCAN.0 View NODELIVE.2 Mint can related keywords Using abbreviations127 Keyword Abbreviation 128 129 Declaration of Conformity EMC Conformity and CE marking EMC wiring techniqueUse of CE compliant components 130 131 EMC installation suggestionsEMC filters Grounding Earth 132 Wiring of shielded screened cables Figure C.4 Handwheel Encoder cable grounding Figure C.5 Encoder signal cable grounding 134 Cables Cable Cable assembly Baldor catalog number Length135 136 Resolver feedback cable EMC mains filters Filter dimensions FN351-36-33 and FN351-50-33Catalog numbers 137 Dimension FN2070-6-06 Dimensions inches mm138 139 Regeneration resistorsBaldor catalog number MintDrive 115VAC drives 230VAC drives Baldor 140 Breakout boardPage MN1274 06/2001