TECO-Westinghouse A510 User manual

CANopen

Table of Contents

1.0 CANopen expansion module................................................................................................................. 1-0

1.0.1 Communication Hardware and Data Structure ............................................................................. 1-0

1.0.2 Product Specifications .................................................................................................................. 1-0

1.0.3 Installation Instructions ................................................................................................................. 1-1

1.0.4 LED indicator descriptions ............................................................................................................ 1-3

1.0.5 Driver Parameter Setting Descriptions ......................................................................................... 1-3

1.0.6 Connection Instructions ................................................................................................................ 1-4

1.0.7 Object Index List ........................................................................................................................... 1-6

1.0.8 Troubleshooting .......................................................................................................................... 1-12

1.0.7 EDS File ...................................................................................................................................... 1-13

2.0 I/O expansion card................................................................................................................................ 1-14

2.0.1 Hardware and Data Structure ................................................................................................... 1-14

2.0.2 Product Specifications ................................................................................................................ 1-14

1-0

1.0 CANopen high speed communication expansion card

1.0.1 Communication hardware and data structure

This product is the CANopen high-speed communication expansion module; it can perform remote

setting and communication functions through the CANopen bus. It can only be used with the TECO

A510s/F510 AC motor driver (hereinafter referred to as the “driver”), and allow the driver to operate

on the CANopen network.

1.0.2 Product specifications

CANopen ports

Item Specifications

Connector 5-pin open pluggable connector; pin spacing 5.08mm

Transmission

rate

10kbps, 20kbps, 50kbps, 125kbps, 250kbps, 500kbps, 800kbps,

1Mbps

Network

protocols

CANopen communication protocol

AC motor driver port

Item Specifications

Connector Control board CN2 connector

Transmission

method

SPI high speed communication

Terminal

functions

1. The communication module communicates with the AC motor

driver through this interface.

2. The AC motor driver provides power to the communication

module through this interface.

Communication

protocols

TECO communication protocol

1-1

1.0.3 Installation instructions

Communication module contact description

As shown in the figure below, A – Terminal block (TB1)

B, C – Mounting holes

D - RUN LED

E - ERR LED

F – Control board connector (CN2)

Terminal block definition

As shown in the figure below, the contact definitions in the order from left to right are

GND, CAN_L, NC, CAN_H and NC.

1-2

ID address setting description

As shown in the figure below, ID addresses (1~127) correspond to SW1 b1~b7.

Transmission rate corresponds to SW2 b1~b3.

Function DIP switch

position

DIP switch

status

7654321

Description

Network

address

Setting

SW1

b7—b1

0000000 Cannot be

used

0000001 Network

address is 1

0000010 Network

address is 2

0000011 Network

address is 3

............ ............

1111110 Network

address is 126

1111111 Network

address is 127

CANopen

Transmission

rate setting

SW2

b3—b1

000 10K

001 20K

010 50K

011 125K

100 250K

101 500K

110 800K

111 1M

1-3

Network address switch setting range: 1~127 (0, 128~255 cannot be used).

Transmission rate switch setting range: 0~7 (8~15 cannot be used).

1.0.4 LED indicator descriptions

The module has RUN (green) and ERR (red) indicators built-in used to quickly diagnose

and monitor the communication statuses between the module itself and the bus.

Module status LED (RUN LED)

Used to monitor whether the equipment is operating normally.

Indicator

statuses Status name Description

Does not light

up Initial status Power not supplied

Continuous

flashing Pre-operation Preparation status

Single flash Stop Stopping

Green light

lights up Operation Operating

Error status LED (ERR LED)

Used to monitor the operability of the communication module CANopen network.

Indicator

statuses Status name Description

Does not light

up No error Operating

Single flash Warning Packet error

Double flash Error Guard/Heartbeat error

Red light lights

up Disconnected Bus closed

1.0.5 Driver parameter setting descriptions

Used to monitor the operability of the communication module CANopen network.

Users must first confirm related parameter settings on the driver in order to ensure that

the communication module can connect normally.

Parameters

Parameter name Settings

Settings descriptions

00-02 Operation command source

2 Communication control

00-05 Frequency command source

3 Communication control

1-4

1.0.6 Connection instructions

Service data object (SDO)

This module supports 1 SDO server, which means it can provide SDO service, and the

SDO uses the sending and receiving COB-ID of the predefined connection, 0x580 +

NodeID (sending) and 0x600 + NodeID (receiving).

Each SDO message includes a set of COB-ID (request SDO and response SDO); it

allows performing of access actions within two nodes. SDO can transmit any size of data,

but segment transmission must be used once it exceeds 4 bytes.

The COB IDs of SDO communication are as follows:

Read: Master to slave (request code 0x40) / Master to slave: 600H + Node ID

COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7

(600H) + Node

Reque

code

Object index Object

subind

Request data

LSB MSB Reserved

Read: Slave response / slave to master: 580H + Node ID

COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7

(580H) + Node

Reque

code

Object index Object

subind

Request data

LSB MSB bit0~

bit7

Bit8~

bit15

Bit16~

bit23

Bit24~

bit31

Response code:

43H: Read 4-byte data / 4BH: read 2-byte data / 4FH: read 1-byte data

Write: Master to slave (4-byte data maximum)

COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7

(600H) + Node

Reque

code

Object index Object

subind

Request data

LSB MSB bit0~

bit7

Bit8~

bit15

Bit16~

bit23

Bit24~

bit31

Request code:

23H: Write a 4-byte data entry

2BH: Write a 2-byte data entry

2FH: Write a 1-byte data entry

1-5

Write: Slave to master (response code 0x60H)

COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7

(580H) + Node

Reque

code

Object index Object

subind

Request data

LSB MSB Reserved

When we use SDO to perform control to the group 25H of the driver control group,

corresponding rules are as follows:

Index

25xxH (register

address)

For example, when we want to perform write/read to 2501H of the control group, the

corresponding SDO object index is the control group register address 2501H.

Perform operation with index 2501H directly and the module will automatically convert to

the A510s 2501H control group register address to perform operation.

1-6

1.0.7 Object index list

Basic index

Index Sub

Name Default value R/W

Size

Remarks

1000H 0 Device type 00010192H R U32

1001H 0 Error register 0 R U8

1005H 0 COB-ID SYNC message 80H R U32

1006H 0 Communication cycle period 0 RW U32

1008H 0 Manufacturer device name A510 R U32

1009H 0 Manufacturer hardware

version 1.0 R U32

100AH 0 Manufacturer software

version 1.00 R U32

1014H 0 COB-ID emergency 00000080H+Node-I

D R U32

1015H 0 Inhibit time EMCY 0 RW U16

1016H

0 number of entries 1 R U8

1 Consumer heartbeat time 0 RW U32

Not

supported

1017H 0 Producer heartbeat time 0 RW U16

1018H

0 number of entries 3 R U8

1 Vender ID 00000373H R U32

2 Product code 00000100H R U32

3 Revision 00010000H R U32

1200H

0 Server SDO Parameter 2 R U8

1 COB-ID Client Server 0000600H+Node-ID

R U32

2 COB-ID Client Server 0000580H+Node-ID

R U32

1400H

0 Number of entries 2 R U8

1 COB-ID used by PDO 00000200H+Node-I

D RW U32

2 Transmission Type 0xFF RW U8

1401H

0 Number of entries 2 R U8

1 COB-ID used by PDO 00000300H+Node-I

D RW U32

2 Transmission Type 0xFF RW U8

1600H

0 Number of entries 2 RW U8

1 1.Mapped Object 60400010H RW U32

2 2.Mapped Object 60420010H RW U32

3 3.Mapped Object 0 RW U32

4 4.Mapped Object 0 RW U32

1-7

Index Sub

Name Default value R/W

Size

Remarks

1601H

0 Number of entries 2 RW U8

1 1.Mapped Object 604F0010H RW U32

2 2.Mapped Object 60500010H RW U32

3 3.Mapped Object 0 RW U32

4 4.Mapped Object 0 RW U32

1800H

0 Number of entries 5 R U8

Number of

entries

1 COB-ID used by PDO 180H+Node-ID RW U32

2 Transmission Type 0xFF RW U8

Transmission

type

3 Inhibit time 0x64 RW U16

Inhibit time

4 CMS-Priority Group 0 RW U8

5 Event timer 0x64 RW U16

Event

timer

1801H

0 Number of entries 5 R U8

Number of

entries

1 COB-ID used by PDO 00000280H+Node-I

D RW U32

2 Transmission Type 0xFF RW U8

3 Inhibit time 0x64 RW U16

Inhibit time

4 CMS-Priority Group 0 RW U8

5 Event timer 0x64 RW U16

Event time

4 CMS-Priority Group 0 RW U8

5 Event timer 0x64 RW U16

Event time

2 Transmission Type 0xFF RW U8

3 Inhibit time 0x64 RW U16

Inhibit time

4 CMS-Priority Group 0 RW U8

5 Event timer 0x64 RW U16

Event time

1A00H

0 Number of entries 2 RW U8

1 1.Mapped Object 60400010 RW U32

2 2.Mapped Object 60420010 RW U32

3 3.Mapped Object 0 RW U32

4 4.Mapped Object 0 RW U32

1A01H

0 Number of entries 2 RW U8

1 1.Mapped Object 604F0010 RW U32

2 2.Mapped Object 60500010 RW U32

3 3.Mapped Object 0 RW U32

4 4.Mapped Object 0 RW U32

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