Table of ContentsChapter 8Software Setup With Unity (M340).......................................601Drive Configuration.............................................6263Configuring the ATV32 in the CANopen Master Project........................64ATV32 Control Block Example According to CiA402..........................67Chapter 9Software Setup With SoMachine (M238)..................................69Introduction..........................................................70Drive Configuration.....................................................71CANopen Master Configuration..··72Chapter 10Detailed Description of Services.........................................76Network Management.................................................779Node Guarding Service................................................80Heartbeat Service.....81Emergency Object(EMCY).............................................82Synchronization Object (SYNC)..........................................8485899091Chapter 11Introduction......3Communication Profile Area..............9495Receive PDOs......96Receive PDO1,PDO2,and PDO3 Mapping9798Transmit PD01,PD02 and PDO3 Mapping................................99Manufacturer Specific Area............................................100Application Profile Area...............................................101Chapter 12S1A287020310Safety InformationSafety InformationNOTICERead these instructions carefully,and look at the equipment to bee familiar with the device before tryingto install,operate,or maintain it.The following special messages may appear throughout this documentationor on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies aprocedure.The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazardexists,which will result in personal injury if the instructions are not followed.This is the safety alert symbol.It is used to alert you to potential personal injury hazards.Obey allsafety message that follow this symbol to avoid possible injury or death.A DANGERDANGER indicates an imminently hazardous situation,which,if not avoided.will result in death or seriousinjury.AWARNINGWARNING indicates a potentially hazardous situation,which,if not avoided,can result in death,seriousinjury or equipment damage.A CAUTIONCAUTION indicates a potentially hazardous situation,which,if not avoided,can result in injury orequipmentdamage.CAUTIONCAUTION,used without the safety alert symbol,indicates a potentially hazardous situation which,if notavoided.can result in equipment damage.PLEASE NOTEThe word "drive"as used in this manual refers to the controller portion of the adjustable speed drive as definedby NEC.Electrical equipment should be installed,operated,serviced,and maintained only by qualified personnel.Noresponsibility is assumed by Schneider Electric for any consequences arising out of the use of this material.S1A283990320105About the BookAbout the BookAt a GlanceDocument ScopeThe purpose of this document is to:show you how to install the CANopen fieldbus on your Altivar 32,show you how to configure the Altivar 32 to use CANopen for monitoring and control,provide examples of setup using SoMachine and Unity.NOTE:Read and understand this document and all related documents(see below)before installing.operating,or maintaining your ATV32.Validity NoteThis documentation is valid for the Altivar 32 CANopen fieldbus.Related DocumentsTitle of DocumentationReference NumberATV32 Quick StartS1A41715ATV32 Installation manualS1A28686ATV32 Programming manualS1A28692ATV32 Modbus manualS1A28698ATV32 Communication ParametersS1A44568ATV32 Atex manualS1A45605ATV32 Safety manualS1A45606ATV32 other option manuals:see ww.schneider-electric.You can download the latest versions of these technical publications and other technical information from ourwebsite at www.schneider-electric..A DANGERUNINTENDED EQUIPMENT OPERATIONRead and understand this manual before installing or operating the Altivar 32 driveAny changes made to the parameter settings must be performed by qualified personnel.Failure to follow these instructions will result in death or serious injury.S1A28699032010About the BookAA DANGERHAZARD OF ELECTRIC SHOCK,EXPLOSION OR ARC FLASHRead and understand this manual before installing or operating the Altivar 32 drive.Installationadjustment.repair,and maintenance must be performed by qualified personnel.The user is responsible for pliance with all international and national electrical code requirements withrespect to grounding of all equipment.Many parts of this drive,including the printed circuit boards,operate at the line voltage.DO NOT TOUCH.Use only electrically insulated tools.DO NOT touch unshielded ponents or terminal strip screw connections with voltage present.DO NOT short across terminals PA/+and PC/-or across the DC bus capacitors.Before servicing the drive:-Disconnect all power,including external control power that may be present.Place a"DO NOT TURN ON"label on all power disconnects.-Lock all power disconnects in the open position.-WAIT 15 MINUTES to allow the DC bus capacitors to discharge.Measure the voltage of the DC bus between the PA/+and PC/-terminals to ensure that the voltage isless than 42 Vdc.-If the DC bus capacitors do not discharge pletely.contact your local Schneider Electricrepresentative.Do not repair or operate the driveInstall and close all covers before applying power or starting and stopping the drive.Failure to follow these instructions will result in death or serious injury.AWARNINGDAMAGE DRIVE EQUIPMENTDo not operate or install any drive or drive accessory that appears damaged.Failure to follow these instructions can result in death,serious injury,or equipment damage.AWARNINGLOSS OF CONTROLThe designer of any control scheme must-consider the potential failure modes of control paths and.-for certain critical control functions,provide a means to achieve a safe state during and after a pathfailure.Examples of critical control functions are emergency stop and overtravel stop.Separate or redundant control paths must be provided for critical control functionsSystem control paths may include munication links.Consideration must be given to the implicationsof unanticipated transmission delays or failures of the link.(1)Failure to follow these instructions can result in death,serious injury,or equipment damageMaintenance of Solid State Control"and to NEMA ICS 7.1 (latest edition),"Safety Standards for Construction and Guidefor Selection,Installation and Operation of Adjustable-Speed Drive Systems."S1A283990320107ATV32 CANopen Features OverviewATV32 CANopen Features OverviewWhat's in this Chapter?This chapter contains the following topics:TopicPageHardware Presentation9CANopen Profile9Communication and Services10S1A28699032010ATV32 CANopen Features OverviewHardware PresentationThe ATV32 can be connected to a CANopen work by several ways:The first solution is to use a CANopen munication adapter (VW3 A3 608.W3 A3 618.V3 A3 628)that can be locked in the option slot of the drive (see 1 below).The second solution is to use the munication base port in the front of the drive(see 2 below).NOTE:The CANopen base port will bee inactive when an option card is inserted.CANopen ProfileThe ATV32 supports CiA301 and CiA402 V3 drive profile.S1A28399032010ATV32 CANopen Features OverviewCommunication and ServicesCyclical CommunicationPDO1 is dedicated to the control of the drive,according to CiA402.PDO2 extends the munication capabilities.PDO3 is intended for use with the Communication scanner.PDO1 and PDO3 provides scan cycle optimization(synchronized with drive task)which allows short reactiontime application (<10ms).See -Optimizing the Response Time"on page 57.The configuration means are:CANopen configuration tool,then the configuration is downloaded by the master,·SoMove,DTM ATV32.Acyclic ServicesThe ATV32 manages a SDO server,characterized by two identifiers:·One for requests·One for responsesSegmented transfer is supported.Assignment by default of address-based identifiers.·NMT mands·Boot upHeartbeat producer and consumerNode Guarding·Emergency(EMCY)SYNC,for all PDOs on the AltivarGeneral broadcast support on identifier 0EDS FileThe EDS file for the ATV32 can be downloaded on www.schneider-electric.10S1A28699032010ProfilesProfiles2What's in this Chapter?This chapter contains the following topics:TopicPageDefinition of a Profile12Functional Profiles Supported by the Altivar 3213S1A28399032010ProfilesDefinition of a ProfileThere are three types of profile:Communication profilesFunctional profiles·Application profilesCommunication ProfilesA munication profile describes the characteristics of the bus or work:·ConnectorsElectrical characteristics·Access protocol·Addressing systemPeriodic exchange serviceMessaging serviceA munication profile is unique to a type of work (Modbus CIP.Profibus DP.etc.and is used by variousdifferent types of device.Functional ProfilesA functional profile describes the behavior of a type of device.It defines:FunctionsParameters(name,format,unit,type,etc.)Periodic l/O variables·State chart(s)A functional profile is mon to all members of a device family (variable speed drives,encoders,I/Omodules,displays,etc.).They can feature mon or similar parts.The standardized (IEC 61800-7)functional profiles of variablespeed drives are:·PROFIDRIVEDRIVECOM has been available since 1991CiA402 -Device profile for drives and motion control represents the next stage of this standard's developmentand is now part of the IEC 61800-7 standard.Some protocols also support the ODVA(Open DeviceNet Vendor Association)profile.Application ProfilesApplication profiles define in their entirety the services to be provided by the devices on a machine.Forexample,"CiA DSP 417-2 V 1.01 part 2:CANopen application profile for lift control systems virtual devicedefinitions".The aim of munication and functional profiles is to achieve interchangeability of the devices connected viathe work.12S1A28699032010