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CANOpen

How to connect ASDA-A2 to a PROFINET network

Problem: our ASDA-A2 servo drive is a very good high-end servo drive, except for the fact that it does not support PROFINET until now, and for one of our potential costumers we needed such functionality.

This document explains the solution that we did for such problems.

System structure: the system is basically to control a load with our ASDA-A2-M servo drive, which has CANOpen communication. The controller is a PROFINET Master (e.g. Siemens S7 PLC).

Here we used a gateway, to bridge the connection between PROFINET and CANOpen, the gateway used was IXXAT CME/  PN from HMS.

ASDA-A2 configuration: the servo drive’s parameters were adjusted to the connected motor, and to be controlled by a CANOpen Master, below are the main parameters for such a configuration:

Parameter Value Discerption
P1-01 0x000B Control Mode and Output Direction (CANopen Mode)
P1-44 1000 Electronic Gear Ratio (1st Numerator) (N1)
P1-45 1 Electronic Gear Ratio (Denominator) (M)
P3-00 0x0004 Communication Address Setting
P3-01 0x0403 Transmission Speed (1.0M bits / second)

 

The ASDA-A2-M CANOpen interface supports up to 4 PDOs duplex (transmit and receive), each PDO has a length of 8 bytes.

For an explanation for the commands needed to control the drive from CANOpen, please refer to the document CANopen for ASDA-A2_M_EN_20120921

IXXAT CME/PN gateway: this gateway can be parametrized using its own software (CANopen Configuration Studio for IXXAT CME-PN 2.1). In the software the ESD file for the ASDA-A2 can be loaded, and the values that need to be transferred are selected. The variables selected for this application are as follows:

Index Sub-Index Size (Bits) Parameter name
RPDO1
6040 00 16 Controlword
6081 00 32 Profile velocity
RPDO2
607A 00 32 Target Position
60FF 00 32 Target Velocity
RPDO3
6083 00 32 Profile acceleration
6084 00 32 Profile deceleration
RPDO4
6060 00 8 Modes of operation
6098 00 8 Homing method
607C 00 32 Home offset
TPDO1
6041 00 16 Statusword
6077 00 16 Torque actual value
6078 00 16 Current actual value
TPDO2
6064 00 32 Position actual value
TPDO3
606C 00 32 Velocity actual value
TPDO4
603F 00 16 Error code

 

After the configuration has been made, a compilation is done in the software, and then the GSDML file is exported to be used in the PROFINET master as a device .

full screen is recommended

 

And the last step is to download the configuration to the IXXAT gateway using the USB cable (mini USB port).

PROFINET Master: here in this case a Siemens PLC is used (CPU1516-3 PN), first step in the hardware configuration the GSDML file is loaded, and then the device is inserted in the HW configuration. After inserting the device, it will automatically assign inputs and outputs areas for the mentioned variables, where they can be used later in the PLC program to control the servo drive.

we hope this will be of help to your application.

Successful Application: 11 Axis Cutting / profiling machine

Another successful application from our Netherlands distributor Innomotion.

This time is a Woodcutting / Profiling machine with 11 axis control!

Kast

As you can see on the picture our partners use 7 VFD-E drives for transportation and high speed spindle, and 4 servodrives ASDA-A2 400W for the cutting/profiling.
Everything controlled by central CPU with Master CANopen module (DVPCOPM-SL).

stootborden1

Via the PC Cad drawings are imported to the Machine and machine settings are executed. The PLC is controlling all the I/O and servo’s for the motion.
In this machine the wooden boards for the stairs are cut to length , width and angle on front and end of the board. The PC software is written in Labview.

freesdraaien.

I hope you like it!
And with some luck, you can use it as inspiration for your next project!

Succsessful Application: Galvanizing production line on metal industry

Another Delta successful application!

Picture2

This time, the problem comes because of the big number of drives needed for the application.
Up to 68 Slaves to be controlled by a PLC, and even in Modus the theoretic limit is 128 nodes, the ones who are really in the field should know than more than 32 nodes means big troubles.

According to this, we recommend to our customer to use CANOpen in two different CANOpen Networks of 34 slaves each.
See the below picture with the network configuration

Picture3

Just let you know that it wasn’t easy, but is working, thanks for the great technicians of our Turkish distributor FastLTD.

Feel free to download the presentation with full explanation of the application.
CanOpen_ Galvanizing production line on metal industry

CANOpen Communication: DVPCOPM-SL with VFD-EC

Why Can Open?

Modbus is strong an with a long and successful story of applications, but when interpolation is needed, you should need something else..
Is strong, easy to use, and more important fully compatible with many different brand devices on the market.

Because of that we want to start a new Can Open Category with simple applications, easy to work on.
In the near future we will keep adding Can Open examples with all our new compatible Can Open devices (ASDA-A2, C2000, etc…) but for start our cost effective CANOpen drive VFD-EC will work.
Let´s start with the Hardware.

Hardware Configuration:

1. DVP-SX2 + DVPCOPM-SL (CANOpen Master)
2. VFD-EC (CANOpen Embedded Slave)
3. TAP-CN03 (CANOpen Splitter with terminal resistor)
4. TAP-CB03 (CANOpen Cable)

Be aware on the following advices:
– Use CANOpen wirings, Ethernet cables have the same pin-out, and they will work on short distances, but it can give you problems due they don´t have same internal impedance.
– Remember to turn on the terminal resistor switch of TAP-CN03! If you don´t want to use it, remember to put 120 Ohm terminal resistor.
– No need to supply V+ and V- connections for short distances, for long ones is recommended.

So at last, you may have something similar to this:

VFD-EC Configuration:

P0.02 -> 9 Reset fatory default values

P2.00 -> 5 CANopen of First master frequency command
P2.01 -> 5 CANOpen of forst operation command
P4.08 -> 23 multi-function input terminal (MI6) as Emergency STOP (link MI6 and DCM to work)
P9.20 -> 2 CANopen Station Address
P9.21 -> 0 CANOpen Baudrate 1Mbps
P9.24 -> 1 Adapt DS402 protocol

CANOpen Builder Configuration:

Full screen recommended

As you can see in the video, once you link on the EDS files the inverter parameters with the PLC registers, you just have to work with them as local registers in the PLC.
The PDO frames are going to be sended automatically in a continuous matter, so every change will be automatically updated in the other device.

HMI and PLC Program:
And after that, you only need to download the PLC and HMI programs.
You will find it in the following link.
The HMI and PLC are connected trough RS232 (DVPACAB2030), but you can change it with no problem.

CANOpen VFD-EC Control.rar

If it´s your first step with CANopen, test it in your lab, and let us know your experience.
Enjoy!

EDS Builder

Everytime you need to insert your devices inside some Devicenet or CanOpen network, the master would need some driver.
Those drivers are called EDS files.
That EDS file is different for every drive, and it may be configured depending of the data that we want to send to the master.

Delta have many Inverter and Servodrives models able to communicate trough CANOpen or Devicenet, because of that I would like to introduce you to a software tool to create that specific EDS files for each drive and application.

EDSBuilder V1.01, just released a month ago, we’ll be able to create the EDS file compatible with any brand CANOpen or Devicenet network.
Of course, Delta already have CANOpen master to controll them, but this is another history.

Software EDS Builder V1.01

To use this software, we will need the device to communicate, and some IFD6500 (USB-RS485 converter) to communicate with the device.

And once you have it, just follow the instruction of the following tutorial  “How to create EDS via EDSBuilder”

name: den-eindhoven
Password: BuPd2175

Enjoy!

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