WEG CFW-08 Communication Manual

CFW-08 Variable Frequency Drive

CANopen Communication Manual

05/2014

Series: CFW-08

Version: 4.5X

0899.5602 E/3

IMPORTANT!

This complementary manual describes the functions of the CANopen protocol for

the CFW-08 Variable Frequency Drive. The CFW-08 drives with support to this protocol

shall have in their product code the version “A3” of the control board as described in the

following example:

MODEL: CFW080040B2024P0A3Z

The information described in the CFW-08 user’s guide for version “A1” of the control

board is also valid for version “A3”, however, particular attention is needed for the following

modifications:

• Incorporation of the CANopen communication protocol.

• Exclusion of serial communication protocols (WEG protocol, Modbus-RTU

and serial remote keypad).

A detailed description of these modifications is presented in the following sections.

Index

ABOUT THIS MANUAL ..........................................................................................................................................7

ABBREVIATIONS AND DEFINITIONS ........................................................................................................................... 7

NUMERICAL REPRESENTATION .................................................................................................................................7

DOCUMENTS ............................................................................................................................................................ 7

1. CANOPEN COMMUNICATIO N FOR THE CFW-08..................................................................................... 8

1.1. CFW-08 CANOPEN COMMUNICATION KIT ....................................................................................................8

1.1.1. Interface of the CANopen communication module .................................................................................. 8

2. INTRODUCTION TO THE CANOPEN PROTOCOL .................................................................................... 9

2.1. CAN ............................................................................................................................................................ 9

2.1.1. Data frame ........................................................................................................................................... 9

2.1.2. Remote frame........................................................................................................................................ 9

2.1.3. Network access ..................................................................................................................................... 9

2.1.4. Error control ........................................................................................................................................ 9

2.1.5. CAN and CANopen ............................................................................................................................. 10

2.2. CHARACTERISTICS OF THE CANOPEN NETWORK .......................................................................................... 10

2.3. PHYSICAL MEDIA ........................................................................................................................................ 11

2.4. ADDRESS ON THE CANOPEN NETWORK........................................................................................................ 11

2.5. DATA ACCESS ............................................................................................................................................. 11

2.6. DATA TRANSMISSION .................................................................................................................................. 11

2.7. COMMUNICATION OBJECTS – COBS ............................................................................................................ 11

2.8. COB-ID ..................................................................................................................................................... 13

2.9. EDS FILE.................................................................................................................................................... 14

3. INSTALLATION IN A CANOPEN NETWORK ........................................................................................... 15

3.1. CANOPEN CONNECTOR............................................................................................................................... 15

3.2. POWER SUPPLY........................................................................................................................................... 15

3.3. CONNECTING THE DRIVE TO THE NETWORK .................................................................................................. 16

3.4. TERMINATION RESISTOR.............................................................................................................................. 16

3.5. COMMUNICATION BAUD RATE ..................................................................................................................... 16

4. PARAMETERS OF THE CANOPEN COMMUNICATIO N......................................................................... 18

4.1. NEW PARAMETERS FOR THE CANOPEN COMMUNICATION............................................................................. 18

4.1.1. P070 – Status of the CAN controller .................................................................................................... 18

4.1.2. P074 – Counter for lost messages ....................................................................................................... 18

4.1.3. P700 – CAN Protocol ......................................................................................................................... 19

4.1.4. P701 – CAN Address .......................................................................................................................... 19

4.1.5. P702 – CAN communication baud rate ................................................................................................ 19

4.1.6. P703 – Bus-off reset............................................................................................................................ 20

4.2. CFW-08 MODIFIED PARAMETERS................................................................................................................. 20

4.2.1. P220 – Local/Remote Selection Source ................................................................................................ 20

4.2.2. P221 – Speed Reference Selection – Local mode ................................................................................. 21

4.2.3. P222 – Speed Reference Selection – Remote mode............................................................................... 21

4.2.4. P229 – Command selection – Local mode ........................................................................................... 22

4.2.5. P230 – Command selection – Remote mode......................................................................................... 22

4.2.6. P231 – Direction of rotation – Local and Remote Mode ...................................................................... 22

4.2.7. P313 – Action for communication error .............................................................................................. 23

4.3. BASIC VARIABLES OF THE CANOPEN COMMUNICATION ................................................................................ 23

4.3.1. VB02 – Drive status............................................................................................................................ 23

4.3.2. VB03 – Drive command ...................................................................................................................... 24

4.3.3. VB04 – Speed Reference ..................................................................................................................... 25

5. INDICATION LEDS ....................................................................................................................................... 26

5.1. TYPES OF INDICATION ................................................................................................................................. 26

5.2. ERROR LED (ERR)..................................................................................................................................... 26

5.3. RUN LED (RUN)........................................................................................................................................ 26

6. OBJECT DICTIONARY .................................................................................................................................27

6.1. DICTIONARY STRUCTURE............................................................................................................................ 27

6.2. DATA TYPES............................................................................................................................................... 27

6.2.1. Basic types.......................................................................................................................................... 28

6.2.2. Compound types ................................................................................................................................. 28

6.2.3. Extended types .................................................................................................................................... 29

6.3. COMMUNICATION PROFILE – COMMUNICATION OBJECTS ............................................................................. 29

6.4. MANUFACTURER SPECIFIC – CFW-08 SPECIFIC OBJECTS ............................................................................. 30

7. DESCRIPTION OF THE COMMUNICATION OBJ ECTS .......................................................................... 31

7.1. IDENTIFICATION OBJECTS ............................................................................................................................ 31

7.1.1. Object 1000h - Device Type ................................................................................................................ 31

7.1.2. Object 1001h - Error Register............................................................................................................. 31

7.1.3. Object 1018h - Identity object ............................................................................................................. 32

7.2. SERVICE DATA OBJECTS - SDOS ................................................................................................................. 33

7.2.1. Object 1200h – Server SDO ................................................................................................................ 33

7.2.2. Operation of SDOs ............................................................................................................................. 34

7.3. PROCESS DATA OBJECTS - PDOS................................................................................................................. 35

7.3.1. Mapping an object into a PDO ............................................................................................................ 36

7.3.2. Receive PDOs..................................................................................................................................... 37

CYCLIC .................................................................................................................................................................. 38

7.3.3. Transmit PDOs ................................................................................................................................... 40

7.4. NETWORK MANAGEMENT - NMT ................................................................................................................ 43

7.4.1. Slave Status Control............................................................................................................................ 43

7.4.2. Error Control – Node Guarding .......................................................................................................... 45

7.4.3. Initialization procedure....................................................................................................................... 47

8. CANOPEN COMMUNICATIO N-RELATED ERRORS ............................................................................... 49

About this manual

This manual describes how to operate the CFW-08 Variable Frequency Drive in a

CANopen network by using the CFW-08 CANopen communication kit. This manual shall

be used along with the CFW-08 User’s Guide.

Abbreviations and Definitions

CAN Controller Area Network

CiA CAN in Automation

COB Communication Object

COB-ID Communication Object Identifier

SDO Service Data Object

PDO Process Data Object

RPDO Receive PDO

TPDO Transmit PDO

NMT Network Management Object

ASCII American Standard Code for Information Interchange

ro Read only

rw Read/write

Numerical Representation

Decimal numbers are represented as digits without suffix (10). Hexadecimal num-

bers are represented with the ’h’ letter after the number (10h).

Documents

The CANopen protocol for the CFW-08 was developed based on the following spe-

cifications and documents:

Document Version Source

CAN Specification 2.0 CiA

CiA DS 301

CANopen Application Layer and Communication Profile

4.02 CiA

CiA DRP 303-1

Cabling and Connector Pin Assignment

1.1.1 CiA

CiA DSP 306

Electronic Data Sheet Specification for CANopen

1.1 CiA

Table 1 – Technical documentation for CANopen

Refer to CiA (CAN in Automation – http://www.can-cia.org/), which is the organiza-

tion that currently maintain, publish and update the information related to the CANopen

network, in order to obtain this documentation.

1. CANopen Communication for the CFW-08

The following components are needed to use the CFW-08 in a CANopen network:

• CFW-08 Variable Frequency Drive with version A3 of the control board.

• CFW-08 CANopen communication kit.

1.1. CFW-08 CANopen Communication Kit

The CFW-08 CANopen communication kit (KFB-CO-CFW-08) is composed of an

installation leaflet and a keypad with the CANopen interface, which shall be installed in the

place of the drive’s standard keypad.

In case the communication kit is provided separately, follow the instructions pre-

sented on the leaflet enclosed with every kit while installing the product. In case the drive

comes with the communication board already installed, read this manual and carefully fol-

low all of the instructions in the document for proper configuration and operation of the de-

vice on the network.

1.1.1. Interface of the CANopen communication module

The CANopen interface for the CFW-08 is composed of the following connectors

and indication LEDs:

Figure 1 – CANopen interface module for the CFW-08

The detailed description of each component is presented in the next sections.

CANopen Connector (XC14)

Indication LEDs

2. Introduction to the CANopen Protocol

In order to operate the CFW-08 in a CANopen network it is necessary to know how

the communication is carried out. This item provides an overview of the operation of the

CANopen protocol. For a detailed protocol description, refer to the CANopen documenta-

tion listed in Table 1.

2.1. CAN

The CANopen network is based on the CAN network. In other words, it uses CAN

messages for data exchange on the network.

The CAN protocol is a serial communication protocol that describes the services of

layer 2 of the ISO/OSI model (data link layer)

. This layer defines the different types of

messages (frames), the error detection algorithm, and the validation and arbitration of

messages.

2.1.1. Data frame

The data transmission in a CAN network is carried out by using a data frame (mes-

sage). This type of frame is mainly composed of an 11-bit

identifier field (arbitration field)

and a data field that may contain up to 8 data bytes.

Identifier

8 data bytes

11 bits Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

2.1.2. Remote frame

In addition to the data frame, there is also the remote frame (RTR frame). This type

of frame does not have the data field, only the identifier. The remote frame only issues a

request to another device on the network to transmit the intended data frame.

2.1.3. Network access

Any device on a CAN network can attempt to transmit a frame to the network in a

certain instant. In case two devices attempt to access the network bus at the same time,

the message with higher priority will be transmitted. The message priority is defined by the

identifier of the CAN frame – the lower the identifier value, the higher the message priority.

Consequently, a message with identifier 0 (zero) has the highest priority.

2.1.4. Error control

The CAN specification defines several error control services, which renders it a very

reliable network with a very low rate of non-detected transmission errors. Each device on

the network must be able to identify this error and inform the other network elements that

an error has been detected.

1 On the CAN protocol specification, the ISO 11898 standard is used as reference for defining the layer 1 of

this model (physical layer).

The CAN 2.0 specification defines two types of data f rames: standard (11bits) and extended (29 bits). Only

standard frames (11 bits) are accepted for the CFW -08 CANopen protocol.

A device of the CAN network has internal counters that are incremented every time

a transmission or reception error is detected and decremented when a telegram is suc-

cessfully transmitted or received. When a substantial number of errors is detected, the de-

vice may enter into the following states:

• Warning: the device enters into the warning state when the counter exceeds a prede-

fined number of errors, which means that a high error rate has been detected.

• Error Passive: the device enters into the error passive state when the counter value

exceeds a higher limit. In this state the device is not active anymore on the network

(cannot send or receive messages). It can only transmit Error Passive Flags.

• Bus-off: the device goes into this state when the Transmit Error Counter is greater than

255. In this mode, the device cannot send or receive messages, acknowledge mes-

sages, or transmit error frames of any kind.

2.1.5. CAN and CANopen

The definitions of how detecting errors, generating frames, and transmitting mes-

sages are not sufficient for completely defining the data that is transmitted through net-

work. It is necessary to create a specification that indicates how the identifier and the data

should be packaged and how the information should be exchanged. In such way, the net-

work elements can properly understand the data that is being transmitted. The CANopen

specification defines how to exchange data between devices and how each device should

understand these data.

There are several other protocols based on CAN that also use CAN frames for

communication, such as DeviceNet, J1939, etc. However, these protocols cannot operate

into the same network.

2.2. Characteristics of the CANopen network

Since CANopen uses a CAN bus as the transmission media for the messages, all

devices on the network have the same rights for accessing the bus, and the priority of the

identifier defines how to resolve the conflicts when the bus is accessed simultaneously by

more than one device. This feature enables the network slaves to directly communicate

with each other and makes the data available in an optimized manner without requiring a

master for controlling the communication (in this case the master needs to cyclically ac-

cess all devices on the network to update the data).

Another important characteristic of the CAN network is the adoption of the producer

/ consumer model for data transmission. It means that a message transmitted over the

network does not have a fixed destination address. This message has an identifier that

indicates which data type it is carrying. Any device on the network that needs to use this

information for its operation can consume it and, therefore, several devices on the network

can use the same message at the same time.

2.3. Physical media

The physical media for data transmission in a CANopen network is based on the

ISO 11898 standard. The physical media specified by the standard is a twisted pair with

differential electrical signal.

The CFW-08 variable frequency drive uses also an isolated interface circuit from the

network. The power supply for the CANopen interface is shared with the digital and analog

inputs and outputs of the CFW-08 control board. The device responsible for the signal

transmission and reception is known as transceiver and follows what is specified on the

ISO 11898 standard.

2.4. Address on the CANopen network

Every CANopen network shall have a master, which is responsible for the services

of network management, and may also have a maximum set of 127 slaves. Each device

on the network can be named a “node”. Every slave on a CANopen network is identified by

its address, or Node-ID, which must be unique for each slave on the network and must be

in the range from 1 to 127.

The CFW-08 does not have network management services. Therefore, it must be

used along with a device that has such services, usually the master of the CANopen net-

work.

2.5. Data access

Each slave on the CANopen network has a list called object dictionary that contains

all the data that can be accessed through the network. Each object in this list is identified

by an index, which is used during the device configuration and message exchange to iden-

tify what is being transmitted.

A more detailed description of how the object dictionary is structured is provided in

section 6.

2.6. Data transmission

Numerical data is transmitted through CANopen messages by using the hexadeci-

mal representation of the number (the least significant data byte must be sent first).

Example: transmission of a 32-bit signal integer (12345678h = 305419896 decimal)

and a 16-bits signal integer (FF00h = -256 decimal) using a CANopen frame.

Identifier

6 data bytes

32 bits Integer 16 bits Integer

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

11 bits

78h 56h 34h 12h 00h FFh

2.7. Communication Objects – COBs

There is a specific set of objects that are responsible for the communication be-

tween the network devices. These objects are divided according to their data type and the

manner they are transmitted and received by a device. The CFW-08 supports the following

communication objects (COBs):

Object Type Description

Service Data Object

(SDO)

The SDOs are responsible for the direct access to the object dic-

tionary of a device. Messages that use the SDOs can indicate ex-

plicitly (by

the object index) which data type is being manipulated.

There are two types of SDOs: Client SDO, which is responsible

for issuing the reading and writing requests from/to a network de-

vice, and the Server SDO, which is responsible for processing this

request.

Since the SDOs are generally used for configuring a network

node, they have a lower priority when compared to other types of

messages. Only a server SDO is available for the CFW-08.

Process Data Object

(PDO)

The PDOs are used for accessing device data without indicating

explicitly which dictionary object is being accessed. Therefore, it is

necessary to previously configure which data the PDO will trans-

mit (data mapping). There are also two types of PDOs: Receive

PDO and Transmit PDO.

The PDOs are generally used for transmission and reception of

real-time data needed during the device operation, and conse-

quently, they have a higher priority when compared to the SDOs.

Emergency Object

(EMCY)

Not available for the CFW-08.

Synchronization Ob-

ject

(SYNC)

Not available for the CFW-08.

Network Management

(NMT)

Every CANopen network must have a master to control the other

devices on the network (slaves). This master will be responsible

for a set of services that control the slaves’ communication and

also their status on the network. The slaves are responsible for

receiving the commands from the master and executing the re-

quested actions.

The CFW-08 works as a slave on the CANopen network and has

two types of service that the master can use: services for device

controlling, where the master controls the state of each slave on

the network, and services for error controlling (Node Guarding),

where the slave sends periodic messages to the master to inform

the connection is active.

Table 2 - Types of Communication Objects - COBs

The communication of the device with the network is always carried out through

these objects. The data that can be accessed through the network is listed on the diction-

ary object of each device. The operation of each COB is described in item 7. The opera-

tion model of the CFW-08 variable frequency drive, from the aspect of the interface with

the CANopen network, can be represented by the following figure:

Figure 2 – Operation model of the CFW-08 in a CANopen network

2.8. COB-ID

The transmission of a CANopen message is always carried out through a communi-

cation object (COB). Every COB has an identifier that represents the type of data transmit-

ted. This identifier, named COB-ID, is 11-bits long and is transmitted in the identifier field

of the CAN message. The COB-ID is subdivided in two parts:

Function Code Node Address

Bit 10

Bit 9

Bit 8

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

• Function code: represents the object type transmitted.

• Node address: indicates with which network device the message is related to.

The following table presents the default values of the communication objects avail-

able for the CFW-08. It is important to notice that the default value of the object is depend-

ent upon the slave address, except for the COB-IDs for NMT and SYNC objects, which are

the same for all network devices. These values can also be changed during the device

configuration stage.

COB

Function Code

(Bits 10 - 7)

Resulting COB-ID

(function + address)

NMT 0000 0

SYNC 0001 128 (80h)

EMCY 0001 129 - 255 (81h - FFh)

PDO1 (tx) 0011 385 - 511 (181h - 1FFh)

PDO1 (rx) 0100 513 - 639 (201h - 27Fh)

PDO2 (tx) 0101 641 - 767 (281h - 2FFh)

PDO2 (rx) 0110 769 - 895 (301h - 37Fh)

PDO3 (tx) 0111 897 - 1023 (381h - 3FFh)

PDO3 (rx) 1000 1025 - 1151 (401h - 47Fh)

PDO4 (tx) 1001 1153 - 1279 (481h - 4FFh)

PDO4 (rx) 1010 1281 - 1407 (501h - 57Fh)

SDO (tx) 1011 1409 - 1535 (581h - 5FFh)

SDO (rx) 1100 1537 - 1663 (601h - 67Fh)

Node Guarding 1110 1793 - 1919 (701h - 77Fh)

Table 3 - COB-ID for the different objects

2.9. EDS File

Each device on a CANopen network has a configuration file called EDS, which

contains information about the operation of the device over the CANopen network, as well

as a description of all objects available for communication. In general, this file is used by

the master or by the configuration software for programming the devices connected to the

CANopen network.

The EDS configuration file for the CFW-08 is supplied with the product, or can be

downloaded from the WEB: http://www.weg.net. Make sure the software version of the

drive is compatible with the EDS file.

3. Installation in a CANopen network

3.1. CANopen Connector

The CANopen interface module has a 5-way connector at the module side (XC14).

The following table describes the function of each connector pin:

Female Connector

Male Connector

Figure 3 – Connector for the CANopen network

CANopen Connector

CAN_GND (V-)

CAN_L

Shield

CAN_H

CAN_VCC (V+)

Table 4 – CANopen connector pinout

• CAN_GND and CAN_VCC: connections for a 24V external power supply, used for pow-

ering the CANopen interface circuit.

• CAN_L and CAN_H: these signals are used for data transmission and shall be con-

nected to all network devices (CAN_L connected to the CAN_L and CAN_H connected

to the CAN_H).

• Shield: connect the cable shield to this pin.

NOTE!

In order to improve the reference signal and the noise immunity, properly ground

terminal 5 of the control board.

3.2. Power Supply

The CAN interface needs an external power supply between the pins 1 and 5 of the net-

work connector. The individual consumption and input voltage data are presented in the

next table.

Supply Voltage (VDC)

Minimum

Maximum

Recommended

11 30 24

Current (mA)

Typical Maximum

30 50

Table 5 - CAN interface supply characteristics

3.3. Connecting the drive to the network

In order to interconnect several network nodes, it is recommended to connect the

device directly to the main bus (trunk-line), without using any drop-line. During the network

installation, run the communication cables away from the power cables in order to reduce

data loss due to electromagnetic interference. Ground all devices connected to the net-

work to the same ground reference in order to avoid ground loop current due to transient

differences in ground potentials.

Figure 4 - CFW-08 in a CANopen network

The cable for signals CAN_L and CAN_H shall have a characteristic impedance of

approximately 120• and a maximum signal delay of 5ns/m. Other characteristics are de-

pendent on the cable length and shall be according to the following table.

Cable Length

(m)

Conductor Resistance

(m•/m)

Conductor area

(mm

)

0 ... 40 70 0.25 ... 0.34

40 ... 300 <60 0.34 ... 0.60

300 ... 600 <40 0.50 ... 0.60

600 ... 1000 <26 0.75 ... 0.80

The maximum number of devices connected to the same network segment is lim-

ited in 64. Repeater may be used for interconnecting more than 64 devices.

3.4. Termination resistor

Both ends of the CAN bus line must have a termination resistor of 120 ohm / 0.25W

interconnecting signals CAN_H and CAN_L.

3.5. Communication baud rate

The communication baud rate that device uses on the CANopen network is de-

pendent on the cable length used for the installation. The following table presents the

available communication baud rates for the CFW-08 as well as the maximum cable length

that is allowed for the installation, in accordance with CiA recommendations.

Communication Baud Rate Cable Length

1 Mbit/s (not recommended) 40 m

500 Kbit/s (not recommended)

100 m

250 Kbit/s 250 m

125 Kbit/s 500 m

100 Kbit/s 600 m

50 Kbit/s 1000 m

20 Kbit/s 1000 m

10 Kbit/s 1000 m

Table 6 – Communication baud rate and its respective installation size

4. Parameters of the CANopen Communication

The following sections describe the CFW-08 parameters that are related to the

CANopen communication. Parameters that are not mentioned herein do not have a direct

relation with the CANopen communication, however, they are important for the regular op-

eration of the drive. Refer to the CFW-08 user’s guide for a complete description of pa-

rameters.

4.1. New parameters for the CANopen communication

The CFW-08 variable frequency drive has a set of parameters (described as fol-

lows) that are used for the device configuration on the CANopen network. These parame-

ters are only accessible when version “A3” of the control board is used along with the

CFW-08 CANopen communication module.

4.1.1. P070 – Status of the CAN controller

This parameter shows the status of the device with respect to the CAN bus. This

parameter indicates if the controller is working properly or if it is under a fault condition with

respect to the communication.

Parameter

Description Range Default Access

P070 Status of the CAN con-

troller

0 = CAN Interface disabled

1 = Reserved

2 = CAN Interface enabled

3 = Warning

4 = Error Passive

5 = Bus-off

6 = No power supply

- Read-

only

• 0 – CAN Interface disabled: the CANopen protocol was not set at parameter P700.

Remember that the modification of parameter P700 is only valid after resetting the

drive.

• 2 – CAN Interface enabled: communication through the CAN interface is enabled and

running without errors.

• 3 – Warning: a reasonable number of transmission/reception errors was detected

through the CAN interface.

• 4 – Error Passive: a substantial number of transmission/reception errors was detected

through the CAN interface. The communication may reach this state in case the CFW-

08 is the only active device connected to the network.

• 5 – Bus-off: the number of transmission/reception errors exceeded the maximum limit

and the CAN interface was disabled. Reset the device in order to restart the communi-

cation. Possible causes: incorrect cable installation, communication signals are short-

circuited, termination resistor not connected, etc.

• 6 – No power supply: the power supply of the CAN interface is provided by the cable

that interconnects the CANopen module to the CFW-08. If this parameter shows this

state, remove the CANopen module and check the installation.

4.1.2. P074 – Counter for lost messages

This counter represents the number of CAN messages that were lost due to the fact

that the drive could not process the current message before receiving a new message

from the network.

Parameter

Description Range Default Access

P074 Counter for lost mes-

sages

0 ... 9999 - Read-

only

Under normal operating conditions, this counter shall remain reset (zero value).

However, there will be situations where the drive will demand high processing times – typi-

cally with switching frequencies above 10KHz and in vector mode – that may result in

message lost in case of high communication baud rates. In this case, it may be necessary

to reduce the communication baud rate or reduce the number of messages that are trans-

mitted through the network.

4.1.3. P700 – CAN Protocol

This parameter sets the application layer protocol for the CAN interface. Set this

parameter to option '1' in order to enable the CANopen protocol for the CFW-08.

Parameter

Description Range Default Access

P700 CAN Protocol 0 = Disabled

1 = CANopen

2 = Reserved

- Read /

Write

NOTE!

The modification of this parameter will be effective only after resetting the drive.

4.1.4. P701 – CAN Address

This parameter sets the CFW-08 address (Node ID) on the CANopen network.

Parameter

Description Range Default Access

P701 CAN Address 1 ... 127 63 Read /

Write

Each device must have a unique address on the network. Therefore, 127 devices

may be connected to the same CANopen network.

NOTE!

The modification of this parameter will be effective only after resetting the drive.

4.1.5. P702 – CAN communication baud rate

This parameter sets the communication baud rate for the CFW-08 CAN interface.

Parameter

Description Range Default Access

P702 CAN communication

baud rate

0 = 1 Mbit/s (not recommended)

1 = Reserved

2 = 500 Kbit/s (not recommended)

3 = 250 Kbit/s

4 = 125 Kbit/s

5 = 100 Kbit/s

6 = 50 Kbit/s

7 = 20 Kbit/s

8 = 10 Kbit/s

0 Read /

Write

Set the same baud rate to all devices connected to the network to enable the com-

munication between them. Remember that the communication baud rate is limited to the

cable length used on the installation (refer to Table 6).

NOTE!

The modification of this parameter will be effective only after resetting the drive.

4.1.6. P703 – Bus-off reset

Configures the action the drive shall take in case of bus-off error.

Parameter

Description Range Default Access

P703 Bus-off reset 0 = manual

1 = automatic

0 Read /

Write

• 0 – Manual: in case of bus-off error the drive will indicate the error code E34 on the

keypad and execute the action set at parameter P313. The drive will restart the com-

munication only after the user manually resets the drive.

• 1 – Automatic: in case of bus-off error the drive will automatically restarts the commu-

nication. In this case the drive does not take any action and no message is shown on

the keypad.

NOTE!

Parameters P070, P074, P700, P701, P702 and P703 will be accessible when

version “A3” of the control board is used along with the CFW-08 CANopen

communication module.

4.2. CFW-08 modified parameters

Besides the parameters previously described, other parameters, that are direct re-

lated to the CFW-08 CANopen communication, had their functions modified.

4.2.1. P220 – Local/Remote Selection Source

This parameter sets the selection source for the LOCAL/REMOTE operation mode

on the CFW-08.

WEG CFW-08 Communication Manual

Related papers

Other documents