KHB 13.0002−EN.CkòÄ.CkòäCommunication ManualServo Drives 930 l931E/KCANopen
Product descriptionProduct features2 l 10KHB 13.0002−EN 4.12 Product description2.1 Product featuresCAN bus features:ƒ Full compatibility accor
Device controlState diagramStatus word8 l 100KHB 13.0002−EN 4.1 ) Note!The bits of the status word are not buffered. They indicate the currentc
Operating modesSetting of the operating modeOverview9 l 101KHB 13.0002−EN 4.19 Operating modes9.1 Setting of the operating mode9.1.1 Overview
Operating modesSetting of the operating modeDescription of the objects9 l 102KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescrip
Operating modesSpeed controlOverview9 l 103KHB 13.0002−EN 4.1 9.2 Speed control9.2.1 OverviewThe speed−controlled operation (profile velocity
Operating modesSpeed controlOverview9 l 104KHB 13.0002−EN 4.1 Limit FunctionProfile Velocity*ProfileAcceleration*ProfileDeceleration*Quick Stop
Operating modesSpeed controlDescription of the objects9 l 105KHB 13.0002−EN 4.1 9.2.2 Description of the objectsIndex Name Possible settingsC
Operating modesHomingOverview9 l 106KHB 13.0002−EN 4.1 9.3 Homing9.3.1 OverviewThis chapter describes how the drive controller finds the start
Operating modesHomingDescription of the objects9 l 107KHB 13.0002−EN 4.1 9.3.2 Description of the objectsIndex Name Possible settingsCharacte
Operating modesHomingControl of the homing run9 l 108KHB 13.0002−EN 4.19.3.3 Control of the homing runThe homing run is controlled by the contr
Operating modesPositioningOverview9 l 109KHB 13.0002−EN 4.1 9.4 Positioning9.4.1 OverviewThe target position (target_position) is transferred
Technical dataCommunication data3 l 11KHB 13.0002−EN 4.13 Technical data3.1 Communication dataCommunicationField ValuesCommunication profile
Operating modesPositioningDescription of the objects9 l 110KHB 13.0002−EN 4.1 9.4.2 Description of the objectsIndex Name Possible settingsChara
Operating modesPositioningFunctional description9 l 111KHB 13.0002−EN 4.1 9.4.3 Functional descriptionThere are two ways to transfer a target
Operating modesPositioningFunctional description9 l 112KHB 13.0002−EN 4.1word object.v1v2t0t1t2t3tv931e_407Fig. 22 Simple travel taskIf the new
Operating modesSynchronous position selectionOverview9 l 113KHB 13.0002−EN 4.1 9.5 Synchronous position selection9.5.1 OverviewThe interpolat
Operating modesSynchronous position selectionDescription of the objects9 l 114KHB 13.0002−EN 4.1 9.5.2 Description of the objectsIndex Name Pos
Operating modesSynchronous position selectionFunctional description9 l 115KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescript
Operating modesSynchronous position selectionFunctional description9 l 116KHB 13.0002−EN 4.1Example:Settings Value CAN object (COB) index Entry
Operating modesSynchronous position selectionFunctional description9 l 117KHB 13.0002−EN 4.1The below graphs show the assignments and the seq
Operating modesSynchronous position selectionFunctional description9 l 118KHB 13.0002−EN 4.1No. Event CAN object1 Generation of sync messages2
Operating modesTorque controlOverview9 l 119KHB 13.0002−EN 4.1 9.6 Torque control9.6.1 OverviewThis chapter describes the torque−controlled o
Electrical installationWiring according to EMC4 l 12KHB 13.0002−EN 4.14 Electrical installation4.1 Wiring according to EMCGeneral notes l The e
Operating modesTorque controlDescription of the objects9 l 120KHB 13.0002−EN 4.1 9.6.2 Description of the objectsIndex Name Possible settingsCh
AppendixIndex table10 l 121KHB 13.0002−EN 4.110 Appendix10.1 Index tableƒ The indexes are numerically sorted in ascending order to form a &qu
AppendixIndex table10 l 122KHB 13.0002−EN 4.1 Index Name Possible settingsCharacteristicsLenze Selection Description1000h0 device_typeVAR UINT3
AppendixIndex table10 l 123KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze100Ch0 guard_time 00 {1 ms} 65
AppendixIndex table10 l 124KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze1014h0 COB−ID_emergency_message0
AppendixIndex table10 l 125KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze1400hReceive PDO1Communication
AppendixIndex table10 l 126KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze1401hReceive PDO2CommunicationPa
AppendixIndex table10 l 127KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze1601hReceive PDO2Mapping Param
AppendixIndex table10 l 128KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze1800hTransmit PDO1CommunicationP
AppendixIndex table10 l 129KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze1801hTransmit PDO2Communicatio
Electrical installationElectrical connections of CANopen4 l 13KHB 13.0002−EN 4.1 4.2 Electrical connections of CANopenLO LOLO LOCG CGCG CGHI
AppendixIndex table10 l 130KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze1A00hTransmit PDO1Mapping Parame
AppendixIndex table10 l 131KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze2015hTransmit PDO2Mask0 number
AppendixIndex table10 l 132KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze6040h0 controlword 0000h0000h{1h
AppendixIndex table10 l 133KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze6041h0 statusword0000h{1h} FFF
AppendixIndex table10 l 134KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze6060h0 modes_of_operation1 {1} 7
AppendixIndex table10 l 135KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze6065h0 following_error_window9
AppendixIndex table10 l 136KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze6071h0 target_torque 0−32768 {mo
AppendixIndex table10 l 137KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze607Eh0 polarity 00h00h{04h}40h
AppendixIndex table10 l 138KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze6093h0 position_factorARR UINT32
AppendixIndex table10 l 139KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze6098h0 homing_method 17−18 {1}
Electrical installationConnection of CAN bus slave4 l 14KHB 13.0002−EN 4.1 4.3 Connection of CAN bus slaveFeaturesƒ Parameter selectionƒ Data e
AppendixIndex table10 l 140KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze60C1h0 interpolated_data_recordR
AppendixIndex table10 l 141KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze60F6h0 torque_control_paramete
AppendixIndex table10 l 142KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze60FBh0 position_control_paramete
AppendixIndex table10 l 143KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze60FFh0 target_velocity 0−231{1
AppendixIndex table10 l 144KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze6510h0 drive_dataREC UINT8 RO N
Index 11 l145KHB 13.0002−EN 4.111 IndexAActivation of CANopen, 56 Actual position value (position units), 84 Actual value, position in posi
Index11 l146KHB 13.0002−EN 4.1LLimit switch, 88 Loading and saving of parameter sets, 69 MMonitoring of communication, 50 Motor adaptation,
Index 11 l147KHB 13.0002−EN 4.1State machine , 91 States, CAN network, 41 Switch on disabled, 93 Switched on, 93 Sync telegram, 39 Synch
Q© 03/2012FLenze Drives GmbHPostfach 10 13 52D−31763 HamelnGermanyService Lenze Service GmbHBreslauer Straße 3D−32699 ExtertalGermany(+49(0)5154/ 8
Electrical installationConnection of CAN bus master4 l 15KHB 13.0002−EN 4.1 Connection plan for M12 socket (931K)X4.1 / X4.2Input contactpatt
CANopen communicationAbout CANopenStructure of the CAN data telegram5 l 16KHB 13.0002−EN 4.15 CANopen communication5.1 About CANopenThe CANopen
CANopen communicationAbout CANopenIdentifier5 l 17KHB 13.0002−EN 4.1ObjectDirection Basic identifierFrom the drive To the drive HexNMT 0Sync
CANopen communicationAbout CANopenUser data5 l 18KHB 13.0002−EN 4.15.1.4 User dataThe master and the drive controller communicate with each oth
CANopen communicationParameter data transfer (SDO transfer)Telegram structure5 l 19KHB 13.0002−EN 4.1 5.2 Parameter data transfer (SDO transf
l 2KHB 13.0002−EN 4.10Fig. 0Tab. 0
CANopen communicationParameter data transfer (SDO transfer)Telegram structure5 l 20KHB 13.0002−EN 4.1Command code11 bits 4 bits User data (up t
CANopen communicationParameter data transfer (SDO transfer)Telegram structure5 l 21KHB 13.0002−EN 4.1Index low byte / index high byte11 bits
CANopen communicationParameter data transfer (SDO transfer)Telegram structure5 l 22KHB 13.0002−EN 4.1Error code (F0 ... F3)11 bits 4 bits User
CANopen communicationParameter data transfer (SDO transfer)Reading parameters (example)5 l 23KHB 13.0002−EN 4.1 5.2.2 Reading parameters (exa
CANopen communicationParameter data transfer (SDO transfer)Writing parameters (example)5 l 24KHB 13.0002−EN 4.1 5.2.3 Writing parameters (examp
CANopen communicationProcess data transfer (PDO transfer)Telegram structure5 l 25KHB 13.0002−EN 4.1 5.3 Process data transfer (PDO transfer)
CANopen communicationProcess data transfer (PDO transfer)Objects for PDO parameterisation5 l 26KHB 13.0002−EN 4.1 5.3.3 Objects for PDO paramet
CANopen communicationProcess data transfer (PDO transfer)Objects for PDO parameterisation5 l 27KHB 13.0002−EN 4.1 Index Name Possible setting
CANopen communicationProcess data transfer (PDO transfer)Objects for PDO parameterisation5 l 28KHB 13.0002−EN 4.1 2. Transmit PDOIndex Name Pos
CANopen communicationProcess data transfer (PDO transfer)Objects for PDO parameterisation5 l 29KHB 13.0002−EN 4.1 Index Name Possible setting
Contents i l 3KHB 13.0002−EN 4.11 About this documentation 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen communicationProcess data transfer (PDO transfer)Objects for PDO parameterisation5 l 30KHB 13.0002−EN 4.1 1. Receive PDOIndex Name Poss
CANopen communicationProcess data transfer (PDO transfer)Objects for PDO parameterisation5 l 31KHB 13.0002−EN 4.1 Index Name Possible setting
CANopen communicationProcess data transfer (PDO transfer)Objects for PDO parameterisation5 l 32KHB 13.0002−EN 4.1 2. Receive PDOIndex Name Poss
CANopen communicationProcess data transfer (PDO transfer)Objects for PDO parameterisation5 l 33KHB 13.0002−EN 4.1 Index Name Possible setting
CANopen communicationProcess data transfer (PDO transfer)Objects for PDO parameterisation5 l 34KHB 13.0002−EN 4.1 1. Transmit maskingIndex Name
CANopen communicationProcess data transfer (PDO transfer)Description of the objects5 l 35KHB 13.0002−EN 4.1 5.3.4 Description of the objectsI
CANopen communicationProcess data transfer (PDO transfer)Description of the objects5 l 36KHB 13.0002−EN 4.1Objects to be transferred (first_map
CANopen communicationProcess data transfer (PDO transfer)Example of a process data telegram5 l 37KHB 13.0002−EN 4.1 5.3.5 Example of a proces
CANopen communicationProcess data transfer (PDO transfer)Activation of the PDOs5 l 38KHB 13.0002−EN 4.15.3.6 Activation of the PDOsThe followin
CANopen communicationSync telegramTelegram structure5 l 39KHB 13.0002−EN 4.1 5.4 Sync telegramThe sync telegram is an additional and special
Contentsi l 4KHB 13.0002−EN 4.15.6 Emergency telegram 44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen communicationSync telegramDescription of the objects5 l 40KHB 13.0002−EN 4.15.4.3 Description of the objectsIndex Name Possible setting
CANopen communicationNetwork management (NMT)Communication phases of the CAN network (NMT)5 l 41KHB 13.0002−EN 4.1 5.5 Network management (NM
CANopen communicationNetwork management (NMT)Telegram structure5 l 42KHB 13.0002−EN 4.1 5.5.2 Telegram structure11 bits 4 bits User data (2 byt
CANopen communicationNetwork management (NMT)Telegram structure5 l 43KHB 13.0002−EN 4.1 State transitions(3)(11)(10)(9)(8)(6)(7)(5)(4)(2)(1)(
CANopen communicationEmergency telegramTelegram structure5 l 44KHB 13.0002−EN 4.1 5.6 Emergency telegramThe drive controller monitors the funct
CANopen communicationEmergency telegramTelegram structure5 l 45KHB 13.0002−EN 4.1The following error codes may appear:Error cause Display 2nd
CANopen communicationEmergency telegramDescription of the objects5 l 46KHB 13.0002−EN 4.15.6.2 Description of the objectsIndex Name Possible se
CANopen communicationHeartbeat telegramTelegram structure5 l 47KHB 13.0002−EN 4.1 5.7 Heartbeat telegramThe heartbeat telegram in implemented
CANopen communicationHeartbeat telegramTelegram structure5 l 48KHB 13.0002−EN 4.1 COB-ID = 1792 + Node-IDHeartbeatConsumerHeartbeatProducerindi
CANopen communicationHeartbeat telegramDescription of the objects5 l 49KHB 13.0002−EN 4.15.7.2 Description of the objectsIndex Name Possible
Contents i l 5KHB 13.0002−EN 4.17.6 Position controller (position control function) 82 . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen communicationHeartbeat telegramBoot−up telegram5 l 50KHB 13.0002−EN 4.1 5.8 Boot−up telegramAfter the supply voltage has been switched
CANopen communicationNode guarding telegramOverview5 l 51KHB 13.0002−EN 4.1 5.9 Node guarding telegram5.9.1 OverviewThe node guarding telegra
CANopen communicationNode guarding telegramOverview5 l 52KHB 13.0002−EN 4.11188...ttssRTRNodeGuardingEventLifeGuardingEventIndicationRespo
CANopen communicationNode guarding telegramTelegram structure5 l 53KHB 13.0002−EN 4.1 5.9.2 Telegram structureRemote Transmit Request (RTR)18
CANopen communicationNode guarding telegramTelegram structure5 l 54KHB 13.0002−EN 4.1Status of NMT slave Value sBit (s)6 5 4 3 2 1 0Stopped 04h
CANopen communicationNode guarding telegramDescription of the objects5 l 55KHB 13.0002−EN 4.1 5.9.3 Description of the objectsIndex Name Poss
CommissioningActivation of CANopen6 l 56KHB 13.0002−EN 4.16 Commissioning 6.1 Activation of CANopenThe CAN interface is activated once with the
CommissioningSpeed controlParameterising of a process data object (TPDO and RPDO)6 l 57KHB 13.0002−EN 4.1 6.2 Speed controlThe purpose of th
CommissioningSpeed controlParameterising of a process data object (TPDO and RPDO)6 l 58KHB 13.0002−EN 4.1No. Description IdentifierControlfield
CommissioningSpeed controlParameterising of a process data object (TPDO and RPDO)6 l 59KHB 13.0002−EN 4.1No. Description IdentifierControlfi
Contentsi l 6KHB 13.0002−EN 4.19.5 Synchronous position selection 113 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CommissioningSpeed controlParameterising of the motor and the current controller6 l 60KHB 13.0002−EN 4.1 6.2.2 Parameterising of the motor and
CommissioningSpeed controlParameterising of the speed control6 l 61KHB 13.0002−EN 4.1 6.2.3 Parameterising of the speed controlBefore a cont
CommissioningSpeed controlRunning through the state machine6 l 62KHB 13.0002−EN 4.1 6.2.4 Running through the state machineAfter all parameters
CommissioningSpeed controlRunning through the state machine6 l 63KHB 13.0002−EN 4.1 Switchedon disabledControlwordShut downControlwordDisabl
CommissioningPosition controlParameterising of the homing run6 l 64KHB 13.0002−EN 4.1 6.3 Position controlThe aim of this example is to show th
CommissioningPosition controlParameterising of the homing run6 l 65KHB 13.0002−EN 4.1No. Description IdentifierControlfieldCommand codeIndex
CommissioningPosition controlRunning through the state machine6 l 66KHB 13.0002−EN 4.1 6.3.2 Running through the state machineWhen the homing r
CommissioningPosition controlRunning through the state machine6 l 67KHB 13.0002−EN 4.1 A change in the position is performed – as for all ot
CommissioningPosition controlRunning through the state machine6 l 68KHB 13.0002−EN 4.1 In Fig. 8, the state changes and the corresponding state
Parameter settingLoading and saving of parameter setsOverview7 l 69KHB 13.0002−EN 4.17 Parameter settingBefore the drive controller can perf
About this documentation 1 l 7KHB 13.0002−EN 4.11 About this documentationContentsThis documentation only contains descriptions for the CAN b
Parameter settingLoading and saving of parameter setsOverview7 l 70KHB 13.0002−EN 4.1 There are two possible variants for the parameter set man
Parameter settingLoading and saving of parameter setsDescription of the objects7 l 71KHB 13.0002−EN 4.1 7.1.2 Description of the objectsInde
Parameter settingConversion factors (factor group)Overview7 l 72KHB 13.0002−EN 4.1 7.2 Conversion factors (factor group)7.2.1 OverviewDrive con
Parameter settingConversion factors (factor group)Overview7 l 73KHB 13.0002−EN 4.1 In the controller, all parameters are stored in the form
Parameter settingConversion factors (factor group)Description of the objects7 l 74KHB 13.0002−EN 4.1 7.2.2 Description of the objectsObject 609
Parameter settingConversion factors (factor group)Description of the objects7 l 75KHB 13.0002−EN 4.1Object 6094h: velocity_encoder_factorThe
Parameter settingPower stage parametersOverview7 l 76KHB 13.0002−EN 4.1 7.3 Power stage parameters7.3.1 OverviewThe power stage of the drive co
Parameter settingPower stage parametersDescription of the objects7 l 77KHB 13.0002−EN 4.1Index Name Possible settingsCharacteristicsLenze Se
Parameter settingCurrent controller and motor adaptationOverview7 l 78KHB 13.0002−EN 4.1 7.4 Current controller and motor adaptation( Stop!Moto
Parameter settingCurrent controller and motor adaptationDescription of the objects7 l 79KHB 13.0002−EN 4.1 7.4.2 Description of the objectsI
About this documentationDocument history1 l 8KHB 13.0002−EN 4.11.1 Document historyMaterial number Version Description– 1.0 LKA First edition–
Parameter settingCurrent controller and motor adaptationDescription of the objects7 l 80KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameI
Parameter settingSpeed controllerOverview7 l 81KHB 13.0002−EN 4.1 7.5 Speed controller7.5.1 OverviewThe parameter set of the drive controlle
Parameter settingPosition controller (position control function)Overview7 l 82KHB 13.0002−EN 4.1 7.6 Position controller (position control func
Parameter settingPosition controller (position control function)Overview7 l 83KHB 13.0002−EN 4.1 Fig. 13 shows the definition of the window
Parameter settingPosition controller (position control function)Description of the objects7 l 84KHB 13.0002−EN 4.1 Fig. 15 shows the definition
Parameter settingPosition controller (position control function)Description of the objects7 l 85KHB 13.0002−EN 4.1 Index Name Possible setti
Parameter settingPosition controller (position control function)Description of the objects7 l 86KHB 13.0002−EN 4.1CharacteristicsPossible setti
Parameter settingAnalog inputsOverview7 l 87KHB 13.0002−EN 4.1 7.7 Analog inputs7.7.1 OverviewThe drive controller is provided with two anal
Parameter settingLimit switchesOverview7 l 88KHB 13.0002−EN 4.1 7.9 Limit switches7.9.1 OverviewLimit switches can be used to define the home p
Parameter settingDevice informationDescription of the objects7 l 89KHB 13.0002−EN 4.1 7.10 Device information7.10.1 Description of the objec
About this documentationNotes used1 l 9KHB 13.0002−EN 4.1 1.3 Notes usedThe following pictographs and signal words are used in this documenta
Device controlState diagramOverview8 l 90KHB 13.0002−EN 4.18 Device control8.1 State diagram8.1.1 OverviewThe following chapter describes how t
Device controlState diagramState diagram of the drive controller8 l 91KHB 13.0002−EN 4.1 8.1.2 State diagram of the drive controllerStartSwit
Device controlState diagramState diagram of the drive controller8 l 92KHB 13.0002−EN 4.1If an error occurs, finally the fault state will be rea
Device controlState diagramStates of the drive controller8 l 93KHB 13.0002−EN 4.1 8.1.3 States of the drive controllerState MeaningNot_Ready_
Device controlState diagramState transitions of the drive controller8 l 94KHB 13.0002−EN 4.18.1.4 State transitions of the drive controllerTran
Device controlState diagramControl word8 l 95KHB 13.0002−EN 4.1 8.1.5 Control wordThe control word can be used to change the current state of
Device controlState diagramControl word8 l 96KHB 13.0002−EN 4.1 The bits 0 ... 3 can be used to execute state transitions. The commands require
Device controlState diagramControl word8 l 97KHB 13.0002−EN 4.1Below the remaining bits of the control word are explained. Some bits have dif
Device controlState diagramController state8 l 98KHB 13.0002−EN 4.1 8.1.6 Controller stateSimilar to the combination of several control word bi
Device controlState diagramStatus word8 l 99KHB 13.0002−EN 4.1 8.1.7 Status wordIndex Name Possible settingsCharacteristicsLenze Selection De
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