Manual Rede Can T2013EN - 0005 - 1006

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ALSPA MV3000e
Publicação no. T2013EN Rev. 0005 (10/06)
Canopen

Informações sobre o problema
Agradecimentos
Informações sobre o problema
Publicação T2013EN
Edição 1 (03/01)
Edição 2 pequenas modificações (07/03)
Edição 3 pequenas modificações (10/04)
Número 4 parâmetros P 61.51 através de P 61.66 adicionado (06/06)
Página II Manual técnico T2013EN (06/06)

ALSPA MV3000e CANopen Instruções de segurança
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INSTRUÇE
Õ S de segurança
O cuidado foi tomado com o projeto deste produto para assegurar-se de que
seja seguro. No entanto, em comum com todos os produtos deste tipo, o uso
indevido pode resultar em ferimentos ou morte. Portanto, é muito importante
que as instruções contidas neste manual e no produto sejam observadas
durante o transporte, comissionamento, operação, manutenção e descarte.
Este manual técnico deve ser considerado como parte do produto. Ele
deve ser armazenado com o produto e deve ser passado para qualquer
proprietário subseqüente ou usuário.
As leis e regulamentações locais de segurança devem ser sempre observadas.
As pessoas que trabalham no produto devem ser devidamente qualificados e

devem ter sido treinados nesse trabalho para estes produtos.
O produto é um componente projetado para incorporação em

instalações, aparelhos e máquinas.
O produto não deve ser usado como um sistema de segurança de um único

item. Em aplicações onde a má operação do produto poderia causar perigo, meios
adicionais devem ser usados para evitar o perigo para as pessoas.
As aprovações e certificações de produtos serão invalidadas se o produto

for transportado, usado ou armazenado fora de suas classificações ou
se as instruções contidas neste manual não forem observadas.
Na União Europeia:
" Os produtos no âmbito da Directiva de baixa tensão, 73/23/CEE, com a
redacção que lhe foram introduzidas, são marcados CE.
" O produto cumpre os requisitos essenciais de proteção da Diretiva EMC
89/336/CEE, conforme alterado, quando instalado e usado conforme
descrito neste manual. Os requisitos da Diretiva EMC devem ser
estabelecidos antes que qualquer instalação, aparelho ou máquina que
incorpore o produto seja levada em serviço.
" A máquina não deve ser levada a serviço até que a máquina tenha sido
declarada em conformidade com as disposições da Directiva relativa
às máquinas (segurança), 98/37/CEE.
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(10/06) Manual técnico T2013EN Página III
Documentation Structure ALSPA MV3000e CANopen
THIS PUBLICATION CANopen RELATED

(T2013) STAGES OF USE PUBLICATIONS
SECTION 1
INTRODUCTION PLANNING
.
SECTION 2
SPECIFICATIONS
SAFETY STANDARDS
EMC STANDARDS
DISPOSAL
INSTRUCTIONS
MV3000e GETTING
SECTION 3
STARTED MANUAL
INSTALLATION
INSTALLATION T1676 OR T2002 OR
& ELECTRICAL
T1693. MV3000e
CONNECTIONS
SOFTWARE
TECHNICAL MANUAL
T1679.
SECTION 6
ENGINEERIN
G DATA
SHEET FILE
SECTION 4
PARAMETER COMMISSIONING
DESCRIPTIONS +
OPERATING
SECTION 5
COMMISSIONING
PROCEDURE
SECTIONS 7 & 8
MAINTENANCE MAINTENANCE
+ AND
DIAGNOSTIC DIAGNOSTICS
INFORMATION
iv Technical Manual T2013EN (10/06)

ALSPA MV3000e CANopen Scope
SCOPE
This manual describes the CANopen facility supported by the ALSPA
MV3000e Drive and provides detailed descriptions of the related drive
parameters used to configure, monitor and operate the CANopen Interface.
(10/06) Technical Manual T2013EN Page v

Overview ALSPA MV3000e CANopen
OVERVIEW
Section Page
1 Introduction.......................................................................................... 1-1
A brief description of CANopen for ALSPA MV3000e drives.
2 Specifications....................................................................................... 2-1
Provides electrical, mechanical and environmental specifications for
CANopen, also safety and EMC standards, and disposal
instructions.
3 Installation.............................................................................................3-1
4 Parameters ............................................................................................4-1
Explains the CANopen protocol and describes in detail the drive
parameters used to configure and control the CANopen network.
5 Commissioning .................................................................................... 5-1

Explains how to commission a CANopen network using the drive
parameters described at Section 4.
6 Electronic
Data Sheet File.................................................................... 6-1
Explains the Electronic Data Sheet File and its use for drives and
CANopen.
7 Maintenance .......................................................................................... 7-1

Describes the maintenance of CANopen.
8 Diagnostics............................................................................................ 8-1
Explains how to diagnose faults with fault, warning and trip codes.
Appendix A Configuration Examples

Appendix B Configuration Tables
Appendix C Example of Bridle Drive
Appendix D Using Access Commands Example
Terminology
Subject Index
Parameter Index
Block Diagrams
vi Technical Manual T2013EN (10/06)

ALSPA MV3000e CANopen Contents
TABLE OF CONTENTS
Section Page
1. Introduction.......................................................................................1-1
1.1 Introduction to CANopen ............................................................................ 1-1
1.2 CANopen Protocol...................................................................................... 1-1
1.3 CANopen Configuration.............................................................................. 1-2
1.4 EDS (Electronic Data Sheet) File................................................................ 1-2
1.5 Customer Support and Training.................................................................. 1-2
1.6 Associated CONVERTEAM Publications.................................................... 1-2
2. Specification .....................................................................................2-1
2.1 CANopen Specification...............................................................................
2-1 2.1.1 Supported Baud Rates ................................................................. 2-1
2.1.2 Bus Cable Length ......................................................................... 2-1
2.1.3 CANopen Protocol........................................................................ 2-2
2.1.4 Data Refresh Rate........................................................................ 2-2
2.1.5 Data Transfer Rate ....................................................................... 2-3
2.1.6 Data Consistency.......................................................................... 2-3
2.2 Standards 2-4
2.2.1 Safety Standards .......................................................................... 2-4
2.2.2 EMC Standards ............................................................................ 2-4
CANopen Standards..................................................................... 2-5
2.3 Disposal2.2.3
Instructions................................................................................... 2-5
3. Installation.........................................................................................3-1
3.1 External Wiring ...........................................................................................
3-1 3.2 Cable
Segregation...................................................................................... 3-1 3.3
CANopen Connectors................................................................................. 3-2
3.4 CANopen Cable.......................................................................................... 3-3
Bus Cable Termination ................................................................. 3-3
3.5 CANopen Earthing...................................................................................... 3-3 3.5.1
4. Parameters ........................................................................................4-1
4.1 Introduction.................................................................................................
4-1 4.2 CANopen
Nodes and Node Addressing........................................................
Protocol...................................................................................... 4-1 4.2.1 4-2
COB-ID and Inhibit Time Allocation .............................................. 4-2
4.3 CANopen4.2.2Process Data Objects (PDOs).................................................... 4-5
CANopen Profile for Variable Speed Drives (DS 402).................. 4-6
4.44.3.1
CANopen Data Types................................................................................. 4-6
4.5 CANopen Objects Supported...................................................................... 4-6
4.5.1 Communication Profile Objects..................................................... 4-6
Manufacturer Specific Objects...................................................... 4-8
4.6 Parameter Attributes................................................................................. 4-14
4.5.2
4.7 Access Authority....................................................................................... 4-15
4.8 List Parameters......................................................................................... 4-15
4.9 Extended I/O Menu.................................................................................. 4-15
(10/06) Technical Manual T2013EN Page vii

Contents ALSPA MV3000e CANopen
4.9.1 Using Extended I/O with Multiple ALSPA MV3000 Drives .......... 4-16
4.10 CANopen PDO Configuration..................................................... 4-16
4.11 Data Update Rate ...................................................................... 4-17
4.12 Basic Settings Explanation......................................................... 4-17
4.13 Extended I/O Menu 59 Description ............................................ 4-17
4.13.1 Extended I/O Menu 59 Parameters ............................................ 4-18
4.13.2 Specifying I/O Node IDs P59.00 to P59.05................................. 4-19
4.13.3 Digital I/Ps 0 to 63 ID P59.06 to P59.09 ..................................... 4-20
4.13.4 Analog I/Ps 1 to 4 P59.10 to P59.29........................................... 4-21
4.13.5 Analog O/Ps 1 to 4 P59.30 to P59.49......................................... 4-23
4.13.6 Digital O/Ps 0 to 31 P59.50 to P59.81 ........................................ 4-24
4.13.7 Ext Digital O/Ps 0 to 15 P59.82 .................................................. 4-24
4.13.8 Ext Digital O/Ps 16 to 31 P59.83 ................................................ 4-24
4.13.9 Ext I/O Loss Action P59.84......................................................... 4-25
4.14 Scale Menu 60 Description ........................................................ 4-25
4.14.1 Scaling Parameter Menu 60 ....................................................... 4-26
4.15 CDC CAN Port Menu 61 Description ......................................... 4-26
4.15.1 CAN Protocol P61.00.................................................................. 4-26
4.15.2 Baud Rate P61.01 ...................................................................... 4-27
4.15.3 Node ID P61.02 .......................................................................... 4-27
4.15.4 Configure Link P61.03 ................................................................ 4-28
4.15.5 Run On Power up P61.04 ........................................................... 4-28
4.15.6 Use Received Data P61.05 ........................................................ 4-29
4.15.7 CAN Communications Status P61.06......................................... 4-29
4.15.8 TX per Second P61.07 ............................................................... 4-30
4.15.9 RX per Second P61.08............................................................... 4-30
4.15.10 CAN Error Word P61.09 ............................................................. 4-30
4.15.11 CAN Error Count P61.10 ............................................................ 4-31
4.15.12 Bus Off Action P61.11 ................................................................ 4-31
4.15.13 CAN Loss Action P61.12 ............................................................ 4-31
4.15.14 Freeze/Fallback Action P61.13................................................... 4-32
4.15.15 References P61.14 to P61.29..................................................... 4-32
4.15.16 Control Words P61.30 & P61.32................................................. 4-33
4.15.17 CAN Control Words 1 and 2 Fallback P61.31 & P61.33............. 4-34
4.15.18 CANopen Version P61.34........................................................... 4-34
4.15.19 CANopen Master Func P61.35................................................... 4-34
4.15.20 CANopen Sync Master P61.36................................................... 4-35
4.15.21 Sync Master Period P61.37........................................................ 4-35
4.15.22 Node Guard Method P61.38....................................................... 4-35
4.15.23 Node Guard Period P61.39 ........................................................ 4-36
4.15.24 Life Time Factor P61.40 ............................................................. 4-36
4.15.25 PDO Inhibit Time P61.41............................................................ 4-36
4.15.26 Standard Slave P61.42............................................................... 4-36
4.15.27 Warn/Trip Source P61.43 ........................................................... 4-37
4.15.28 UnMonitored PDO Mask P61.44................................................. 4-38
4.15.29 Bad CAN-ID Source P61.45 ....................................................... 4-38
4.15.30 Bus off Count P61.50.................................................................. 4-39
4.15.31 Node to Access P61.51 .............................................................. 4-39
4.15.32 Object to Access P61.52 ............................................................ 4-39
viii Technical Manual T2013EN (10/06)

ALSPA MV3000e CANopen Contents
4.15.33 Sub-Index to Access P61.53 ...................................................... 4-39

4.15.34 Access Command P61.54 .......................................................... 4-40
4.15.35 Access Result P61.55................................................................. 4-40
4.15.36 Access Data Length P61.56 ....................................................... 4-40
4.15.37 Access Bytes x & y P51.57 through P51.66................................ 4-40
4.16 CDC CANopen Parameter Menu 62 Description ....................... 4-41
4.16.1 CDC CANopen Menu 62 Parameters......................................... 4-41
4.16.2 PDO 1 Mode P62.00................................................................... 4-41
4.16.3 PDO 1 Channel.ID P62.01.......................................................... 4-44
4.16.4 PDO 1 Word 1 Pointer P62.02.................................................... 4-45
4.16.5 PDO 1 Word 1 Scale P62.03...................................................... 4-46
4.16.7 PDO 1 Word 2 Scale P62.05...................................................... 4-46
4.16.9 PDO 1 Word 3 Scale P62.07...................................................... 4-46
4.16.11 PDO 1 Word 4 Scale P62.09...................................................... 4-47
4.16.12 Translation to PDO Mapping Dictionary Objects......................... 4-47
4.17 Data Spy Parameters P89.00 to P89.06 .................................... 4-47
4.18 Parameter Listing....................................................................... 4-48
4.18.1 Menus Listed .............................................................................. 4-48
4.18.2 Attributes .................................................................................... 4-48
4.18.2 Extended I/O Menu 59................................................................ 4-49
4.18.3 Scaling Parameter Menu 60 ....................................................... 4-51
4.18.4 CDC CAN Port Menu 61............................................................. 4-52
4.18.5 CDC CANopen Menu 62 ............................................................ 4-56
4.18.6 Using the Data Spy..................................................................... 4-57
5. Commissioning.................................................................................5-1
5.1 Mechanical Checks.....................................................................................
5-1 5.2 Tools and
CANopen Configuration................................................................
Equipment.................................................................................. 5-1 5.2.1 5-2
6. Electronic Data Sheet File ...............................................................6-1

6.1 Introduction.................................................................................................
6-1 6.2 The Electronic Data Sheet File for ALSPA MV Drives................................ 6-1
7. Maintenance......................................................................................7-1
7.1 General Guidance.......................................................................................
7-1 7.2 Firmware Revisions .................................................................................... 7-1
8. Diagnostics .......................................................................................8-1
8.1 Faults 8-1
8.2 CAN Warning Fault Code ........................................................................... 8-1
8.3 CAN Trip Fault Code .................................................................................. 8-1
8.4 CAN Status P61.06..................................................................................... 8-2
8.5 Spares 8-2
(10/06) Technical Manual T2013EN Page ix

Contents ALSPA MV3000e CANopen
Appendix A - Configuration Examples......................................................1
Appendix B - Configuration Tables...........................................................1
Appendix C - Example of Simple Communications on a Bridle............. 1
Appendix D - Using Access Commands Example...................................1
Subject Index
Parameter Index
Block Diagrams
x Technical Manual T2013EN (10/06)

ALSPA MV3000e CANopen 1. Introduction
1. Introduction
1.1 Introduction to CANopen

CANopen is a networking system based on the CAN serial bus.
It was originally designed for motion oriented industrial control
systems e.g. handling systems. However, CANopen networks
are now used in many other applications including public
transportation, off-road vehicles, marine electronics and building
automation.
The latest models of ALSPA MV3000e drives support the

CANopen protocol. The drive has a communication port which
is used for high speed communication with other CAN devices,
including devices manufactured by third parties which are
compliant with the industry standard CANopen protocol.
This manual describes the use of CANopen with the drives for
which there are two methods of use, namely:
(a) to provide additional I/O for the drive, both analogue and
digital – this method enables a rapid set-up for third party
I/O which is easy to configure and simple to use;
(b) to provide communication between drives in a production

cell or functional group.
1.2 CANopen Protocol

The industry standard CANopen protocol provides a method of
connecting CANopen compliant devices from any manufacturer
onto a common CANopen Fieldbus network to achieve a desired
function. The CANopen standard defines a number of ‘Profiles’
which a device can support. All devices have to support the
Communication Profile and can optionally support one other
device function profile, such as the I/O Profile.
The ALSPA MV3000e acts as a CANopen slave device

conforming to the CANopen DS 301 Communications Profile.
Optionally, by use of drive parameters, the ALSPA MV3000e can
act as a minimum capability CANopen master. The ALSPA
MV3000e would typically be configured as a CANopen master to
inter-link a local cluster of CANopen compatible drives, such as
(10/06) Technical Manual T2013EN Page 1-1

1. Introduction ALSPA MV3000e CANopen
other ALSPA MV3000e drives, to achieve some local

functionality.
1.3 CANopen Configuration

The ALSPA MV3000e drive is parameterised and controlled
using the same parameter interface for CANopen as for other
functions of the drive. The drive may also be configured over its
serial links, including the CANopen link itself.
1.4 EDS (Electronic Data Sheet) File

The EDS file is used to provide a description of the slave device,
i.e. the ALSPA MV3000e Drive, to a CANopen master. The file
is supplied in a PC readable format.
The Electronic Data Sheet File is described in more detail at

Section 6.
1.5 Customer Support and Training

Converteam provides comprehensive telephone technical
support, application planning, service and customer training for
customers.
Contact Converteam at the appropriate customer support
telephone number shown at the end of this manual.
1.6 Associated Converteam Publications

T1676 ALSPA MV3000e Getting Started Manual
T1679 ALSPA MV3000e Software Technical Manual
T1689 ALSPA MV DELTA (Air Cooled) Technical Manual
T1692 ALSPA Drive Coach MVS3004-4001 User’s Guide
T1693 ALSPA MV DELTA (Liquid Cooled) Technical Manual
nd
T1968 ALSPA MV3000e 2 CAN Port CANopen and
DeviceNet Fieldbus facility Technical Manual
T2002 ALSPA MV3000e Getting Started Manual for Active
Energy Management
Page 1-2 Technical Manual T2013EN (10/06)

ALSPA MV3000e CANopen 2. Specification
2. Specification
2.1 CANopen Specification

The CANopen Protocol implements the CANopen Fieldbus
protocol according to CiA (CAN in Automation) standard DS 301
version 3.0.
The CANopen Fieldbus facility, which is available as a firmware

upgrade for earlier versions of the ALSPA MV range of drives, is
incorporated as a standard facility in drives fitted with Version
4.00 or later. 1
2.1.1 Supported Baud Rates

The Fieldbus is capable of communication at standard CANopen
rates between 10 k Baud and 1 M Baud.
The Baud rate selection is from the following list (also see
4.15.2):
" 10 k Baud
" 20 k Baud
" 50 k Baud
" 100 k Baud
" 125 k Baud
" 250 k Baud
" 500 k Baud
" 800 k Baud
" 1 M Baud
2.1.2 Bus Cable Length

Table 2-1 lists the maximum bus cable length, and the PDO
transfer rates, for each Baud rate.
As a general guide the maximum bus length for any Baud rate,
detailed at Table 2-1, should not be exceeded.
1
Controllers previous to Common Drive Controller (20X4311 Issue E or later) OR
DELTA Controller MVC3000-4002 (20X4341 Issue C or later) do not have opto-
isolation on the CAN port

2. Specification ALSPA MV3000e CANopen
Table 2-1 Maximum Bus Length and PDO Transfer Rate for
each Baud Rate
Baud Rate Maximum Bus Approximate
(k Baud) length (m) Transfer Rate in
PDOs per second
1000 30 6,650 800 505,300 500 1003,300 250 2501,650 125 500 80
100 650 650 50 1000 300 20 2500 100 10 5000 50
2.1.3 CANopen Protocol

There are basically two types of data transfer. The first is of an
administrative nature and makes use of Service Data Objects
(SDOs). The second is to transfer real time process data
through the use of Process Data Objects (PDOs).
Eight configurable PDOs are provided to allow the exchange of

drive parameter data. Two other PDOs are used to support the
Extended I/O capability or as additional configurable PDOs.
Each PDO can be configured to transfer up to 4 drive

parameters.
The direction and data update rate of the 10 PDOs are

configured by drive menu parameters and the configuration can
be read from the CANopen network by the use of SDO data
transfer. 2
2.1.4 Data Refresh Rate

The drive can process PDOs at the maximum rate of one PDO
per millisecond. To make the best use of this bandwidth PDOs
can be configured to exchange data with the drive’s parameters
in one of the following times:
2
Re-mapping of PDOs via SDO data transfer is not supported

" 1.25 ms 3
" 5 ms
" 10 ms
" 100 ms.
For full details see 4.16.2.
Each configurable PDO can be configured to be synchronous

with a CANopen SYNC object.
Parameter Data will be transmitted on change of state/value at
the assigned transmission rate or every 100 ms.
SDO objects are processed at the 10ms rate.
If the extended I/O capability is used:

" digital I/O is processed at the 10 ms rate;
" analogue I/O is processed at the 5 ms rate.
2.1.5 Data Transfer Rate

Process Data Objects consist of a number of data bytes (0
through 8) and other parts such as a CRC (Cyclic Redundancy
Check) and EOF (End of Field) giving a maximum length of 111
bits. Thus the maximum number of PDOs per second that can
be transferred can be estimated by dividing the Baud rate by
100. These rates are listed at Table 2-1.
2.1.6 Data Consistency
CAUTION
When using the CANopen interface to transfer values
that span more than one 16-bit word (e.g. a 32-bit
value) the interface does not guarantee that all
members of the data set will be sent at the same time.
The user must therefore ensure that the received value is valid.
This is best explained by an example
3
The 1.25 ms rate should only be used with care as it may cause network and CPU
loading problems.

The position Feedback is contained in two parameters, P38.02

and P38.03. If the drive is configured to transmit these
parameters to the CANopen network and the value is changing,
the sequence of values shown at Table 2-2 could be transmitted
on consecutive CANopen transmissions.
Table 2-2 Example of Problems with Changing Values

During Transmission
CANopen Actual P38.03 P38. 02 Value Received
Transmissio Value over CANopen
n Number
1 00009999 0000 9999 00009999

2 00010000 0001 0000 00000000 4
3 00010000 0001 0000 00010000
It can be assumed that the double word items will be correct if

they are received or transmitted at the same scan rate as the
drive produces or consumes the double word items. This is
because the drive is updated with received CAN data at the
beginning of the scan that the PDO is attached to and data
transmitted to the CAN network is collated at the end of the
selected scan.
The most common double word item is derived from the encoder
signal, e.g. Position Feedback P38.02 and P38.03, which is
updated at the 10 ms scan rate and thus a PDO containing this
item should be attached to this scan rate.
2.2 Standards
2.2.1 Safety Standards

EN 50178 – Electronic equipment for use in power installations.
2.2.2 EMC Standards

EN 61800-3 / IEC 61800-3 – Adjustable speed electrical power
drive systems: EMC product standard including specific test
methods.
4
i.e. the value of P38.03 from transmission 1 and P38.02 from transmission 2.

2.2.3 CANopen Standards

DS 301 CAL-based Communications Profile For Industrial
Systems.
DS 401 Device Profile For I/O Modules.
2.3 Disposal Instructions

This equipment or any part of the equipment should be disposed
of in accordance with the laws of the country of use.

This page intentionally left blank

ALSPA MV3000e CANopen 3. Installation
3. Installation
WARNINGS
" Multiple Circuits
This equipment may be connected to more than one

live circuit. Disconnect all supplies before working
on the equipment.
" Energy Discharge
Wait at least 5 minutes after isolating supplies and check

that voltage between DC+ and DC- has reduced to a safe
level before working on this equipment.
3.1 External Wiring

A CANopen cable is required for connections between drives. It
should be connected to the ALSPA MV3000e Drive CDC
(Common Drive Controller) at TB4. The position of the terminal
block, the method of routing, restraining and segregating the
wiring for the CANopen connection are shown in the T1676
ALSPA MV3000e Getting Started Manual.
It is important to strain relieve the CANopen cable before it is

connected to the drive. Strain relief helps to prevent damage to
the CANopen connection and restricts the cable from being
accidentally unplugged.
If the CANopen connections are to be made to an ALSPA

MV DELTA Drive the connection should be made at TB4 on the
ALSPA MVC3002-4001 User I/O Termination Panel for DELTA
Controller MVC3001-4001, and at TB4A on the controller itself
for DELTA Controller MVC3001-4002. The type of cable is
specified at 3.4.
3.2 Cable Segregation

Electrical noise and electromagnetic interference can be
introduced into a microelectronics system via the cables and
wires connected to it. Segregation requirements for the wiring
and cables connected to a drive, including those for CANopen,

3. Installation ALSPA MV3000e CANopen
should be implemented to minimise any possibility of

interference being introduced into the drive system.
Implementation of segregation requirements involves separating

that wiring which could carry electrical noise, referred to as ‘dirty’
wiring, from that which is free from electrical noise, referred to as
‘clean’ wiring. Wiring that falls into the same group (i.e. ‘dirty’ or
‘clean’) can be run together, while wiring from different groups
should be kept apart, though paths may cross at right angles. All
connections for CANopen are considered to be clean.
3.3 CANopen Connectors

The CANopen connection is achieved via the CAN_HI and
CAN_LO and COMMS_GND terminals provided on Terminal
Blocks TB4 and TB4A as detailed at Table 3-1 and 3-2 below.
The connections at TB4(A) are made by screw-type terminations

for each separate flexible cable of the type specified at 3.4.
All cables should have strain relief to prevent damage to the

CANopen connection at TB4(A).
Table 3-1 ALSPA MV3000e TB4 CANopen Connections

TB Number Pin Number Designation CAN Cable
TB4 5 Comms Ground CAN_GND
6 CAN_HI CAN_HI
7 CAN_LO CAN_LO
Table 3-2 ALSPA MV3000e TB4A CANopen Connections

TB Number Pin Designation CAN Cable
Number
TB4A 1 CAN0V CAN_GND
2 CAN LO CAN_LO
3 SCN
4 CAN HI CAN_HI
5 Not Connected
Note: The making of a ‘T’ in the CANopen network is not allowed, the
cable must always be daisy chained.
TB4 connections are for DELTA controller MVC3001-4001 and

early MV3000e MicroCubicle™ Drives.

TB4A connections are for DELTA controller MVC3001-4002 and

later MV3000e MicroCubicle™ Drives, having split connector
TB4A and TB4B.
3.4 CANopen Cable

The connection between an ALSPA MV3000e Drive and other
devices using CANopen is made via a 3-wire screened cable. It is
recommended that a two-pair twisted cable with overall screen be
used. The cable electrical specification is detailed at Table 3-3
Table 3-3 CANopen Cable Electrical Specification

Function Specification
impedance characteristic of a pair is 120 ohm
linear resistance 70 milli ohm per metre maximum
propagation time 5 ns/m
minimum cross section 0.25 mm2 (23 AWG)
Note: The length of cable is determined by the network Baud rate –

see Table 2-1.
3.5 CANopen Earthing

To ensure an EMC (Electromagnetic Compatibility) compliant
installation, the network cable screens must be continuous and
connected to a d.c. earth at each ALSPA MV3000e Drive and at
all other nodes in accordance with the recommendations of the
node equipment manufacturer.
Full details of drive earthing are included in the appropriate

manuals T1676 or T1693 (see 1.6).
3.5.1 Bus Cable Termination

Figure 3-1 to Figure 3-5 illustrate typical connection diagrams for
CANopen network cabling between drives. The diagrams also
show connections for terminating resistors.
Each end of a CANopen network must have a 120 © ± 10%,

¼ W resistor fitted between the CAN_HI and CAN_LO wires. It is
therefore necessary for the resistors to be supplied and fitted
when the network is being installed.

ALSPA ALSPA
MV3000e MV3000e
TB4
TB4 120 © 120 ©
6 CAN_Hi CAN_Hi 6
7 CAN_Lo CAN_Lo 7
5 GND GND 5
Figure 3-1 Network cabling between two nodes- DELTA Controller

MVC3001-4001 and MV3000e MicroCubicle™ Drives5
MV3000e
ALSPA
TB4
ALSPA ALSPA
6 7 5
MV3000e MV3000e
TB4 120 © 120 © TB4

6 CAN_Hi CAN_Hi 6
7 CAN_Lo CAN_Lo 7
5 GND GND 5
Figure 3-2 Network Cabling between 3 Nodes-DELTA Controller

MVC3001-4001 and MV3000e MicroCubicle™ Drives
5
Early MV3000e MicroCubicle™ Drives are fitted with TB4, later modules have two
connectors TB4A (CAN port) and TB4B (Serial link and HSIO). Check the drive for the
appropriate connectors fitted.

CAN_Lo
CAN_Lo
CAN_Lo
CAN_Lo
CAN_Lo
CAN_Hi
CAN_Hi
CAN_Hi
CAN_Hi
CAN_Hi
GND
GND
GND
GND
GND
Figure 3-3 Network Cabling between more than 3 Nodes
ALSPA ALSPA
MV3000e MV3000e
TB4(A) 120 © 120 © TB4(A)

4 CAN_Hi CAN_Hi 4
2 CAN_Lo CAN_Lo 2
1 GND GND 1
Figure 3-4 Network Cabling between 2 Nodes- DELTA Controller MVC3001-

4002 and MV3000e MicroCubicle™ Drives

MV3000e
TB4A
ALSPA
ALSPA ALSPA
4 2 1
MV3000e MV3000e
TB4A TB4A
120 © 120 ©
4 CAN_Hi CAN_Hi 4
2 CAN_Lo CAN_Lo 2
1 GND GND 1
Figure 3-5 Network Cabling between 3 Nodes- DELTA Controller MVC3001-

4002 and MV3000e MicroCubicle™ Drives

ALSPA MV3000e CANopen 4. Parameters
4. Parameters
4.1 Introduction
This section includes a list of all the CANopen parameters that
are necessary to get a CANopen link working. Details are also
included for the functions of the remaining parameters and
descriptions of all parameter functions. This section also
describes the method of configuring the CANopen connection
with the parameters.
The section begins with a brief outline of the CANopen protocol

when applied to Variable Speed Drives, followed by a list of the
drive menus used by CANopen.
The section ends with a list of all the parameters associated with
the CANopen connection.
4.2 CANopen Protocol

The industry standard CANopen Protocol provides a method of
connecting CANopen compliant devices from any manufacturer
onto a common CANopen Fieldbus Network to achieve a
desired function. The CANopen standard defines a number of
profiles that a device can support. All devices must support the
Communications Profile. The ALSPA MV3000e CANopen
connection implements the CANopen Communications Profile
DS 301 - CAL-based Communications Profile For Industrial
Systems CiA Draft Standard 301 Version 3.0.
Use of the CANopen Protocol allows the I/O capability of an

ALSPA MV3000e Drive, or an ALSPA MV DELTA Drive, to be
extended by using I/O that communicates via CANopen and that
is compliant with the Communications Profile – Device Profile for
I/O Modules CiA DS 401.
The ALSPA MV3000e Drive, and the ALSPA MV DELTA Drive,

can act as CANopen slave devices. Each can also, by use of
drive parameters, act as a minimum capability CANopen
‘master’. A drive would typically be configured as a CANopen
master to interlink a local cluster of CANopen devices such as
other ALSPA MV3000e, or ALSPA MV DELTA, drives.

4. Parameters ALSPA MV3000e CANopen
4.2.1 Nodes and Node Addressing

CANopen supports up to 127 nodes on a network. Allowable
CANopen node addresses are 1 through to 127; Node address 0
is not allowed.
An ALSPA MV3000e Drive can be configured to any allowable

node address.
CANopen can be considered as a ‘producer/consumer’ network.

In such networks a ‘message’ is produced by one node which
can be consumed by any other node. Each ‘message’ produced
has an identifier, known as the COB-ID (CAN Object Identifier).
4.2.2 COB-ID and Inhibit Time Allocation

To transfer data between CANopen Nodes, it is necessary to
allocate CAN Object Identifiers (COB-ID) to each CAN packet
(SDO, PDO etc). Furthermore, it may be necessary to time
inhibit high priority PDOs to allow low priority PDOs to be
transmitted. This is because COB-IDs with the lowest numeric
value have, by definition, the highest priority for access onto the
CANopen network.
There are various methods of achieving the COB-ID allocation

(see 4.2.2.1 to 4.2.2.3).
4.2.2.1 CANopen Standard COB-ID Distribution

The CANopen Communication Profile defines a default COB-ID
allocation scheme to allow peer-to-peer data transfer between a
single master and up to 127 slave nodes (having a Node ID from
1 to 127). Because each COB-ID is unique, no slave node can
consume packets produced by another slave node, the
information has to be routed by the master node (see 4.15.26).
Each slave node can have a maximum of four transmit PDOs

and four receive PDOs. Each slave also has one transmit and
one receive SDO, an emergency object and a node guard
object.
The 11 bit Communication Object ID (COB-ID) allocation is at
Table 4-1.

Table 4-1 11 Bit Communication Object (COB-ID) Allocation

CANopen Object Resultant COB-ID
NMT 0 SYNC 128 EMERGENCY
128 + Node ID
TIME STAMP 256
PDO1 (tx) 384 + Node ID
PDO1 (rx) 512 + Node ID
PDO2 (tx) 640 + Node ID
PDO2 (rx) 768 + Node ID
PDO3 (tx)* 896 + Node ID
PDO3 (rx)* 1024 + Node ID
PDO4 (tx)* 1152 + Node ID
PDO4 (rx)* 1280 + Node ID
SDO (tx) 1408 + Node ID
SDO (rx) 1536 + Node ID
Node Guard 1792 + Node ID
Notes: (1) The items marked ‘*’ are defined in version 4.0 of the
Communications Profile but will be supported in this
implementation.
(2) The Node Guard COB-ID will be used for the produced
heartbeat COB-ID, if selected, in version 4.0.
The PDOs are separated by 128, thus the Node ID is limited to

127 using the standard distribution. A Node ID of zero is not
allowed in CANopen.
The default definition does not specify PDO inhibit times.

However, the drive limits the transmission of PDOs to one of the
four internal update rates (see 2.1.4).
This method allows the CANopen Network Management (NMT)

master to just issue a broadcast ‘Start Node’ command to
activate data transfer.
The drive is not limited to this COB-ID distribution method, but it

can be configured to make the COB-ID allocation of the first
eight PDOs comply with the default Communications Profile
allocation (see 2.2.3). Typically, this would be done on a

master-slave type of implementation, and uses the drive’s node

ID to calculate the COB-ID.
For transfer of data between drives and other CANopen devices,

a producer-consumer type of implementation is necessary. More
than one drive can consume the data produced by another
device on the network.
To transfer data from one slave to another by the master-slave

model requires the transmission of two CAN packets and a
CANopen master node. The producer-consumer model only
requires the transmission of one CAN packet, there is no
requirement for a master node. Clearly, the producer-consumer
model represents a more efficient usage of the CANopen
network bandwidth and information is available twice as fast.
The Standard COB-ID Distribution method is not suited to the

producer-consumer model. To implement a producer-consumer
model CANopen Static COB-ID Distribution method is required.
4.2.2.2 CANopen
Static COB-ID Distribution
Static COB-ID distribution is where the COB-ID is pre-defined by
module suppliers but may be changed by module specific
measures, e.g. by switch or parameter settings. Refer to
Converteam for details of module supplier’s equipment that has
been successfully tested with the ALSPA MV3000e range of
drives.
This method still allows the NMT master to just issue a

broadcast ‘Start Node’ command to activate data transfer. A
simple NMT master is all that is required to activate the
CANopen network.
The drive provides a mechanism to allocate COB-IDs for PDOs

during drive parameter set-up as described at 4.16. The COB-ID
allocation is retained on subsequent drive power-ups. The
COB-ID is not dependent upon the node identifier and thus it is
possible for many drives to consume the same PDO packet. It is
equally practical to connect to devices that have the standard
6
fixed COB-ID allocation.
6
When setting Extended I/O the COB-IDs are predetermined. The user should check
Table 4-16 that the COB-IDs have not been previously allocated.

Thus it is practical to implement the producer-consumer

capabilities of CANopen and to optimise the usage of the CAN
bandwidth and PDO availability. This method also allows more
than the default number of PDO allocations per node, i.e. to
have more than four transmit and receive PDOs.
4.2.2.3 CANopen Dynamic COB-ID Allocation

The third method of distributing identifiers and inhibit times is via
CANopen Distribution (DBT) protocol services. This means that
Nodes have their COB-IDs and inhibit times set-up via the
CANopen network using DBT service packets. This distribution
set-up is normally done each time the network switches on.
This facility can only be provided when a full capability NMT

master is present on the CANopen network. The drive is only
capable of operating as a simple NMT master and therefore
cannot support dynamic COB-ID allocation.
4.3 CANopen Process Data Objects (PDOs)

The maximum number of bytes a CAN data packet can have is
eight, the minimum number of data bytes is zero. The PDO
packet contains data that is transmitted to achieve control of the
process being implemented over the CANopen network. After
node power-on and following PDO packet configuration, which
includes the COB-ID allocation described at 4.2.2, the PDO
packet transmissions have to be started by the CANopen
Network Management master issuing a ‘Start Node’ message.
Thoughtful allocation of data to PDOs can result in shorter length

PDOs and thus optimise the CAN network bandwidth.
In a similar way that COB-IDs are allocated to PDOs, PDO data

is also ‘mapped’ to a PDO. In a drive, the smallest unit of data is
a 16-bit word. Therefore 4 words of data can be mapped to a
single PDO. Through the use of parameter pointers (Menu 62),
the drive PDO mapping can be configured.
The CANopen network can read the drive parameter mappings

in order to determine which drive parameters are mapped.
The drive parameters appear, to the CANopen network, in the

range 10100 to 19999. The lower four digits identify the
parameter xx.yy. The offset of 10000 puts the parameter into

the manufacturer specific CANopen Object Dictionary area of

between 2000h (8192 decimal) to 5FFFh (24575 decimal).
For example P9.00 would become the CANopen object

dictionary number 10900.
4.3.1 CANopen Profile for Variable Speed Drives (DS 402)

The CANopen Profile for Variable Speed Drives (DS 402)
contains the drive specific definition of a minimum set of PDOs
and Object Dictionary entries.
Depending on the direction of the data transfer, the PDOs

contain either, the control words and set points, or status words
and actual values.
ALSPA MV3000e drives do not support the DS 402 Drives

Profile.
4.4 CANopen Data Types

CANopen supports the following standard Static Object
Dictionary data types:
" Integer16;
" Integer32;
" Unsigned16;
" Unsigned 32;
" Visible String;
" PDO CommPar;
" PDO Mapping;
" SDO Parameter.
4.5 CANopen Objects Supported
4.5.1 Communication Profile Objects

The Communication Profile Object Dictionary items listed at
Table 4-2 are supported for the ALSPA MV3000e Drive.

Table 4-2 Object Dictionary Terms

Index Name Object Type Access
(hex) Code
1000 Device type VAR
Unsigned32 ro
1001 Error register VAR
Unsigned8 ro
1004* No. of PDOs supported ARRAY
Unsigned32 ro
1005 COB-ID SYNC message VAR
Unsigned32 rw
1006 Communication cycle period VAR
Unsigned32 rw
1007 Synchronous window length VAR
Unsigned32 rw
1008 VAR
Visible String ro
1009 Manufacturers device name Visible String ro
Manufacturers hardware version VAR
100A Manufacturers software version VAR Visible String ro
100B* Node ID VAR Unsigned32 ro
100C Guard time VAR Unsigned16 rw
100D Life time factor VAR Unsigned8 rw
100F* COB-ID Guarding Protocol VAR Unsigned32 rw
1014 COB-ID EMCY message VAR Unsigned32 rw
1400 Receive PDO no. 1 RECORD PDOCommPar rw
: : :
1404 Receive PDO no. 5 RECORD PDOCommPar rw
1600 Receive PDO no. 1 mapping RECORD PDOMapping rw
: : :
1604 Receive PDO no. 5 mapping RECORD PDOMapping rw
1800 Transmit PDO no. 1 RECORD PDOCommPar rw
: : :
1804 Transmit PDO no. 5 RECORD PDOCommPar rw
1A00 Transmit PDO no. 1 mapping RECORD PDOMapping rw
: : :
1A04 Transmit PDO no. 5 mapping RECORD PDOMapping rw
Notes: (1) Indexes marked with ‘*’ are provided for compatibility
with version 3.0 of the Communications Profile.
(2) ‘ro’ is ‘read only’ access and ‘rw’ is ‘read write’ access.

4.5.2 Manufacturer Specific Objects

All the drive parameters are mapped into the ‘manufacturer
specific’ object dictionary range. The parameter number in the
form 1.00 for parameter P1.00 is multiplied by 100 to remove the
decimal place and then added to 10000 to produce a number in
the range 10100 to 19999 (2774h to 4E1Fh).
Drive parameters are classed as listed at Table 4-3.
Table 4-3 Drive Parameter Classes

Class Description
Numeric Parameters which have any numeric
value between allowable range.
State Parameters whose numeric value
selects a text string from a list.
Control Flag Source Parameters that are used to select a
(CFSRC) control flag, the name of which is
displayed with the parameter.
Pointer Parameters that are used to reference
another parameter, the name of which
is displayed with the parameter.
The object dictionary structure for each drive parameter is

described at Table 4-4.
Table 4-4 Object Description

INDEX 2774h – 4E1Fh
Name Drive parameter
Object Code 9 - RECORD
Number of Elements 6 – 254
The value descriptions for each drive parameter are described at

Table 4-5 to Table 4-13.
4.5.2.1 Sub-index Elements

For non-state type parameters there are eight sub-index
elements (0…7) defining the parameter details. For state
parameters, there are further sub-index elements that describe
the possible states.
The eight sub-index elements are now summarised.

4.5.2.2 Sub-index 0
Sub-index 0 defines the maximum number of the sub-index
element – see Table 4-5. The number is contained in the default
field.
Table 4-5 Value Description 0h

Sub-Index 0h
Description Number of Attributes
Data Type 6 – Unsigned8
Access RO
PDO Mapping No
Value Range Unsigned8
Default value No
Mandatory Range No
4.5.2.3 Sub-index 1
Sub-index 1 defines the value of the object. It is the only PDO
mappable sub-index and the only sub-index element which may
be read-write – see Table 4-6.

Sub-Index 1h
Description Parameter Value
Access RW
PDO Mapping Optional
Value Range Unsigned16
Default value No
Mandatory Range No
4.5.2.4 Sub-index 2
Sub-index 2 defines the name of the object. It is of type visible
string. The name of the object is contained in the main object
definition. However, it can also be read from the drive by
accessing sub-index 2 of the object – see Table 4-7.

Sub-Index 2h
Description Parameter Name
Data Type 9 – Visible String
Access RO
PDO Mapping No
Value Range No
Default value No
Mandatory Range No
4.5.2.5 Sub-index 3
Sub-index 3 defines the units of the object. It is of type visible
string. For parameters with a units definition, it can be read from
the drive. For state parameters, the units string will contain the
description of the currently selected state – see Table 4-8.

Sub-Index 3h
7
Description Parameter Units
Access RO
PDO Mapping No
Value Range No
Default value No
Mandatory Range No
4.5.2.6 Sub-index 4
Sub-index 4 defines the high and low limits of the object. It is of
type unsigned 32 and is displayed in hexadecimal. The upper
16 bits of the 32-bit word define the maximum value and the
lower 16 bits define the minimum value. This information is also
available in sub-index 1. A CANopen device can request sub-
index 4 from the drive to read the maximum and minimum range
– see Table 4-9.
7
For Numeric parameters, this will be the units. For State (list) and CFSRC
parameters, this will be the current selected state. For Pointer parameters, this will be
the name of the referenced parameter.


Sub-Index 4h
Description Parameter High–Low Range
Access RO
PDO Mapping No
Value Range No
Default value No
Mandatory Range No
Note: Where the Unsigned32 value is composed of two

unsigned16-bit words which define the parameter range, the
High Word is a Minimum Value and the Low Word is a
Maximum Value.
4.5.2.7 Sub-index 5
Sub-index 5 defines the default for the object. This information
is also available in sub-index 1. A CANopen device can request
sub-index 5 from the drive to read the default value – see
Table 4-10.

Sub-Index 5h
Description Parameter Default
Access RO
PDO Mapping No
Value Range No
Default value No
Mandatory Range No
4.5.2.8 Sub-index 6
Sub-index 6 defines the flags word of the parameter object. It is
of type unsigned 16 and is displayed in hexadecimal. The flags
bits are only applicable to the NUMERIC type contained in
sub-index 7 – see Table 4-11.


Sub-Index 6h
Description Parameter Flags
Access RO
PDO Mapping No
Value Range No
Default value No
Mandatory Range No
4.5.2.9 Sub-index 7
Sub-index 7 defines the type of the parameter object. It is of
type unsigned 8 – see Table 4-12. The types are listed at Table
4-15.

Sub-Index 7h
Description Parameter Type
Access RO
PDO Mapping No
Value Range No
Default value No
Mandatory Range No
4.5.2.10 Sub-index 8 to 254

Sub-index 8 to 254 defines the states for STATE and I_STATE
parameters – see Table 4-13. If a state is defined the name will
contain the description of the state. Undefined states will have
no description, just the state number followed by a colon.


Sub-Index 8h to 8h + No. of items89
Description Parameter State n (n=0..No.of Items)
Access RO
PDO Mapping No
Value Range No
Default value No
Mandatory Range No
4.5.2.11 Parameter Flag Word

Breakdown of the Parameter Flag Word is described at
Table 4-14.
Table 4-14 Breakdown of the Parameter Flag Word

Bit(s) Description
0-1 Keypad increment step - defines number of increments
n
per press 10 n = 0….3
2-3 Keypad increment step - defines number of decrements
per press 10n n = 0….3
4 Read only parameter
5 Stop Drive to Edit 1 = stop required
6 Bit or Mode parameter
7 Engineer Access only
8-9 Display decimal point n digits from the right
10 On line editing does NOT occur
11-12 Not used
13 Display in Hexadecimal
14 Unsigned decimal parameter
15 Drive size dependant parameter
8
Only parameters of type state can have a sub-index greater than 6.
9
The number of states can be deduced from the maximum allowed value.

4.5.2.12 Parameter Type
The parameter type is given at Table 4-15.
Table 4-15 Parameter Type

Value Type
0 Numeric 1 Pointer 2 State
3 CFSRC
4 Indexed State 10
4.6 Parameter Attributes

Each parameter has a number of attributes, which define the
security classification, how the value is used and how the drive
acts when a value is changed. The attributes for each
parameter are given in the parameter list at the end of this
section (see Table 4-25 to Table 4-29).
The description for each parameter attribute R, E, O, L, N and S

is now described.
R = Read Only, these are either set during manufacture or

are parameters that are used to monitor the state of
various functions of the drive while it is running.
E = Engineer Accessible, these are drive configuration

parameters which are set as part of the system design or
during commissioning, and which should not be changed
during normal operation. Refer to the drive manual for
information on access control.
O = Operator Accessible, these are parameters which are

used to control the drive within normal operating limits, and
may need to be changed during normal operation. Refer to
the drive manual for information on access control.
L = List Parameter, when stepping through the parameter

values using the keypad up and down arrow buttons, the values
10
The indexed state is a special form of the state type, used for trip and warning
codes.

are chosen from a pre-set list, and no intermediate values are

available.
N = Enter Parameter, some parameters may cause

undesirable results if intermediate values are passed to the
drive immediately while stepping through the values. To
activate a changed parameter value with an N attribute press
the keypad ENTER button after selecting the correct value.
S = Stop To Edit, the drive must be stopped before

this parameter can be updated.
4.7 Access Authority

Updating any of the user parameters is only allowed if the
communications device attempting to read or write to the
parameter has the correct access authority i.e. ‘ro’ for ‘read only’
and ‘rw’ for ‘read write’ access. The CANopen Fieldbus has an
‘engineer’ status with regard to updating/accessing drive
parameters.
The CANopen Fieldbus has the same access authority as the

other Fieldbus links detailed in the drive manual.
4.8 List Parameters

When trying to access list parameters (see 4.6) it is important to
note that the value required is not necessarily the value indicated
by the keypad. The first element in a list parameter has a value
of 0 and the second parameter has a value of 1, and so on. The
value displayed by the keypad may be different to this value. For
example when configuring the RS 232 serial link Baud rate,
P32.10, the keypad options are 4, 5 and 6 which correspond to
values of 9.6, 19.2 and 38.4 k Baud. When configured via a
CANopen network the values of 4 or 5 or 6 should be sent NOT
9.6, 19.2 and 38.4 k Baud.
4.9 Extended I/O Menu

The simplest use of the CANopen Fieldbus Facility will be to
connect additional I/O to one ALSPA MV3000e Drive or ALSPA
MV DELTA Drive. The facility allows this by the use of Menu 59
– Extended I/O and Menu 61 – CAN Protocol.

4.9.1 Using Extended I/O with Multiple ALSPA MV3000e Drives

As the CANopen Network is of a ‘producer/consumer’ type it is
possible for digital and analogue inputs to be used by more than
one ALSPA MV3000e Drive, or a ALSPA MV DELTA Drive. So
where each of a number of drives has a small quantity of I/O
associated with it then it is possible, for economic or other
reasons, to combine all of the I/O into one nest. Each drive will
then ‘consume’ the inputs and use the signals appropriate to it.
If both the analogue and digital outputs are combined into one
I/O nest then only one of the drives in the cluster can write to
them. If there are two or more I/O nests for outputs then two or
more drives can set them.
Each drive can allocate an I/O nest from which to take its digital
inputs, an I/O nest from which to take its analogue inputs, an I/O
nest to which it sends its digital outputs and an I/O nest to which
it sends its analogue outputs. These I/O nests can be at the
same or at different locations – see Figure 4-1.
ALSPA ALSPA ALSPA

MV3000 MV3000 MV3000
No. 1 No. 2 No. 3
CANopen Network
Digital Digital Analog Analog

Inputs Outputs Inputs Outputs
Figure 4-1 Using Extended I/O with Multiple ALSPA MV3000e

Drives
4.10 CANopen PDO Configuration

The configuration of the CANopen is implemented via parameter
Menus 60, 61 and 62. The menus are fully described at 4.14,
4.15 and 4.16.

4.11 Data Update Rate

The general CANopen PDO packets described at 4.16 can be
attached to one of the four drive update rates of 1.25 ms, 5 ms,
10 ms and 100 ms.
The Extended Digital I/O is updated every 10ms and the

Extended Analogue I/O updates every 5 ms.
4.12 Basic Settings Explanation

The basic settings are those required to get the CANopen
connection operating and to define the basic operating modes.
Block diagrams are provided at the end of the manual to help
with configuration of the CANopen connection.
Stages in configuring an Extended I/O CANopen connection are:

(a) Configure the Extended I/O Menu 59 as required.
(b) Select the CANopen protocol in Menu P61.00.
(c) Select the CANopen Baud rate in P61.01.
(d) Set P61.03 to 1 to configure the link.
Stages in configuring a CANopen connection are:

(1) Select the CANopen protocol in Menu P61.00.
(2) Select the CANopen Baud rate in P61.01.
(3) Set up the CANopen network node address in
Parameter 61.02
(4) Configure the CANopen PDOs in Menu 62, making use of
any of the CAN references and control words as required.
(5) Set P61.03 to 1 to configure the link.
Appendix A gives a worked example. Appendix C gives an

example of simple communication on a bridle using CANopen.
4.13 Extended I/O Menu 59 Description

An Extended I/O parameter menu is provided to process and
hold inputs, and prepare outputs. The digital inputs and outputs
are processed at the 10 ms rate. The analogue inputs and
outputs are processed at the 5 ms rate. This is the same
processing rate as the built-in digital and analogue I/O.

The feature allows for, per drive:
up to 64 digital inputs - processed at 10 ms rate;

up to 32 digital outputs - processed at 10 ms rate;
up to 4 analogue inputs - processed at 5 ms rate;
up to 4 analogue outputs - processed at 5 ms rate.
Up to 64 digital inputs from one node source can be mapped into

the drive. These digital inputs are accessed by specifying a
Control flag source (CFSRC) of 1.100 to 1.163 (see section 6.33
of the T1679 Software Technical Manual for information on
control flag sources).
Analogue inputs can, optionally, be individually re-scaled and

offset to achieve the correct scale for the drive’s use. Similarly
analogue outputs can be individually scaled and offset as
needed.
Because the scaled analogue output value is placed in a

parameter, it is possible to point to this value by any of the
general purpose parameter pointers. This feature might be of
use even when no analogue output is required.
Additionally Menu 59 allows for the I/O to be sourced/sent to up

to four nodes on a CANopen network. Each type of I/O can
have its own node or be combined into one or more nodes.
Up to 32 bits of digital outputs can be collated as two words. In

a similar manner to the analogue outputs these words can be
used as ‘general purpose’ collators of bits for use by other
parameters.
In order for the Extended I/O to be activated, the CAN port must
be configured for the CANopen protocol (P61.00) and the correct
Baud rate selected (P61.01). The CAN port must be configured
either through the use of P61.03 during commissioning or
automatically on power-up through the use of P61.04.
4.13.1 Extended I/O Menu 59 Parameters

Menu 59 I/O parameters are listed at Table 4-25.

4.13.2 Specifying I/O Node IDs P59.00 to P59.05

The first six parameters of Menu 59, P59.00 to P59.05, are used
to select where the various I/O devices, if used, are logically
located on the CANopen network.
To accommodate combined digital/analogue input/output nodes

as well as separate nodes per input/output type, a node ID for
each of the types has been provided. For combined nodes, the
node ID will be the same for the different I/O types, while for
different nodes the node ID will be different. Using this method,
it becomes possible for more than one drive to use the same set
of inputs. This allows flexibility in optimising the usage of the
inputs provided by the chosen input node device.
Only one drive is allowed to produce data for an output node, but
it is possible to direct outputs to another drive, and that other
drive collate the redirected outputs to the physical output node. It
should be noted that there will be a time penalty in the data
propagating across the network to the output node. The drive
responsible for the final collation will require that one of its
general purpose CANopen PDO packets (see 4.16) will be
required for each drive redirecting its outputs.
The selection of a Node ID will utilise some of the available

COB-IDs described at 4.2.2. The COB-ID usage can be
calculated with reference to Table 4-16.
Table 4-16 COB-ID Usage Calculation

CANopen Object Resultant COB-ID
Digital Input 384 + Node ID
Digital Output 512 + Node ID
Analog Input 640 + Node ID
Analog Output 768 + Node ID
4.13.2.1 Digital I/P Node ID P59.00

This specifies the node address of the CANopen device
providing the digital inputs. A value of zero disables the
processing of these inputs. A value between 1 and 127
activates processing of inputs.

4.13.2.2 Analog I/P Node ID P59.01
providing the analogue inputs. A value of zero disables the
processing of these inputs. A value between 1 and 127
activates the processing of the inputs.
4.13.2.3 Analog O/P Node ID P59.02

providing the analogue outputs. A value of zero disables the
processing of these outputs. A value between 1 and 127
activates the processing of the outputs.
4.13.2.4 Digital O/P Node ID P59.03

providing the digital outputs. A value of zero disables the
processing of outputs. A value between 1 and 127 activates the
processing of the outputs.
4.13.2.5 Number of Digital I/Ps P59.04

This allows the actual number of digital inputs to be specified in
order to guarantee that unused inputs are at zero. If the value is
zero, no digital inputs are available.
4.13.2.6 Number of Digital O/Ps P59.05

This allows the actual number of digital outputs to be specified to
minimise the amount of data transmitted on the CANopen
network. A value of zero means that no outputs are transmitted.
4.13.3 Digital I/Ps 0 to 63 ID P59.06 to P59.09

These four parameters display the actual states of any digital
inputs received by the drive.
4.13.3.1 Digital I/Ps 0 to 15 ID P59.06

This is a read-only display of the first set of 16 digital inputs
mainly for diagnostic purposes. However, it is possible to point
to this parameter if needed. Digital inputs are accessed by
specifying a control flag source in the range 1.100 to 1.115.

This is a read-only display of the second set of 16 digital inputs
mainly for diagnostic purposes. Digital inputs are accessed by

This is a read-only display of the third set of 16 digital inputs

This is a read-only display of the fourth set of 16 digital inputs
4.13.4 Analog I/Ps 1 to 4 P59.10 to P59.29

The display and processing of each of the four analogue inputs
is handled by 5 parameters per input. A full description is given
for analogue input 1 parameters only, as the other analogue
input parameters act in an identical manner.
In accordance with the CANopen I/O Profile, the value of +32767

represents a full-scale positive reading. The value of –32767
represents a full-scale negative reading for bi-polar inputs. Thus
it does not matter whether the analogue input device uses an 8,
14 or 16-bit converter. The only difference is the size of the
steps reported by the value. For example, a ±10V input will
produce ±32767, whereas a 4 to 20mA input will produce 0 to
32767.
4.13.4.1 Ext Analog I/P 1 (binary) P59.10

This has units of ‘binary’ to denote the actual input value.
This is the actual value received from the analogue input before
any processing.
4.13.4.2 Ext Analog I/P 1 (Full Scale) P59.11

This has units of ‘= Full Scale’ to denote that this is the analogue
input full scale value. The default is 32767. It should not need
changing if the analogue input is a CANopen I/O Profile
compliant device.

4.13.4.3 Ext Analog I/P 1 (Offset) P59.12
This has units of ‘= Offset’ to denote that this is the analogue
offset applied to the scaled analogue input value.
4.13.4.4 Ext Analog I/P 1 (Drive FS pu) P59.13

This has units of ‘= Drive FS pu’ to denote that this is the
analogue input drive full scale value corresponding to the full
scale actual value. The default is 10000 corresponding to
100.00%.
4.13.4.5 Ext Analog I/P 1 (pu scaled) P59.14

This has units of ‘pu scaled’ to denote that this is the analogue
input value after scaling and applying any offset. The value is
calculated according to the following formula:
eActualValu
( P .59)10DriveFSpu( P .59)13
+ Offset ( P .59)12
FullScale( P .59)11
Figure 4-2 shows the diagrammatic presentation.
P59.10
EXT ANALOG
I/P 1 BINARY
P59.14
P59.13
EXT ANALOG
X ÷ +
EXT ANALOG
I/P 1 pu SCALED
+
I/P 1 DRIVE FS pu
P59.11
EXT ANALOG
I/P 1 FULL SCALE
P59.12
EXT ANALOG
I/P 1 OFFSET
Figure 4-2 External Analogue Input - diagramatic presentation
4.13.4.6 Ext Analog I/Ps 2 to 4 P59.15 to P59.29

These parameters display and process the 3 other analogue
inputs in exactly the same way as for analogue input 1.

4.13.5 Analog O/Ps 1 to 4 P59.30 to P59.49

In the same way as for analogue inputs, four groups of five
parameters per output are provided to select and process the
parameter value to be output.
CANopen I/O Profile devices expect values between 0 to 32767

for unipolar outputs, and –32767 to +32767 for bipolar outputs.
For example a 4 to 20 mA output would produce 4 mA for a
value of 0, and 20 mA for a value of 32767.
A full description is given for analogue output 1 parameters only

as the other analogue output parameters act in an identical
manner.
4.13.5.1 Ext Analog O/P 1 Src P59.30

This is the parameter pointer to the parameter to be output.
4.13.5.2 Ext Analog O/P 1 (Drive FS pu) P59.31

This has units of ‘= Drive FS pu’ to denote that this is the
analogue output drive full scale value corresponding to the full
scale actual value. The default is 10000 corresponding to
100.00%.
4.13.5.3 Ext Analog O/P 1 (Full Scale) P59.32

This has units of ‘= Full Scale’ to denote that this is the analogue
outputs actual full scale value. The default is 32767. It should not
need changing if the analogue input is a CANopen I/O Profile
compliant device.
4.13.5.4 Ext Analog I/P 1 (Offset) P59.33

This has units of ‘= Offset’ to denote that this is the analogue
offset applied to the parameter value before scaling.
4.13.5.5 Ext Analog O/P 1 (pu) P59.34

This has units of ‘pu’ to denote that this is the analogue output
value after scaling and applying any offset. The value is
calculated according to the following formula:
[Parameter ' sValue( P59.30) + Offset ( P59. )33
]* FullScale (P59. )31
DriveFSpu ( P59.32)

Figure 4-3 shows the diagrammatic presentation.

P59.34
EXT ANALOG
O/P 1 pu
+ P59.33
P59.34 +
EXT ANALOG
EXT ANALOG
O/P 1 pu X O/P 1 OFFSET
÷ P59.32
EXT ANALOG
O/P 1 FULL SCALE
P59.31
EXT ANALOG
O/P 1 DRIVE FS pu
Figure 4-3 External Analogue Output - diagrammatic

presentation
4.13.5.6 Ext Analog O/Ps 2 to 4 P59.35 to P59.49

These parameters display and process the 3 other analogue
outputs in exactly the same way as for analogue output 1.
4.13.6 Digital O/Ps 0 to 31 P59.50 to P59.81

These parameters specify the control flag source for the digital
outputs 0 to 31. The parameter for any particular output can be
easily calculated by adding the output number to P59.50.
See section 6.33 of the T1679 Software Technical Manual for

information on control flag sources.
4.13.7 Ext Digital O/Ps 0 to 15 P59.82

This parameter is used to display the state of the selected
outputs and may be used for commissioning/diagnostics
purposes. It may also be pointed to by another parameter, for
example, by one of the CANopen PDO parameters in Menu 62.
In this second case, the parameter has been used to collect up
to 16 digital states for subsequent transmission to another
CANopen device.
4.13.8 Ext Digital O/Ps 16 to 31 P59.83

This is a second word of 16 digital states that may be used in the
same manner as the first word contained in P59.82.

4.13.9 Ext I/O Loss Action P59.84

This parameter is used to determine the action taken by the
ALSPA MV3000e Drive when it detects a loss of Extended I/O.
The user can set for
0 = No Action
1 = Warning 2
= Trip
The default value is 1 = Warning.
4.14 Scale Menu 60 Description

This menu allows the scaling between drive and Fieldbus to be
specified for various different data types.
Each scale is specified by a pair of parameters. The first

parameter specifies the drive value equivalent to the external
Fieldbus value contained in the second parameter of the pair.
For example, if the drive represents a value of 100% by the value
10000 and the Fieldbus represent 100% by the value 16383, the
first parameter will contain 10000 and the second parameter will
contain 16383. When a parameter is to be output to the Fieldbus
using the scale detailed in the above example the formula is:
ExternalEq lueuivalentVa
Output = ×
alueParameterV
alentValueDriveEquiv
When receiving a parameter from the Fieldbus the formula is:
alentValueDriveEquiv
= Input ×
alueParameterV
ExternalEq lueuivalentVa
Table 4-17 lists the data types that have been provided.

Table 4-17 Data Types

Data Type Parameter
Speed(%) P60.00 and P60.01
Speed(rpm) P60.02 and P60.03
Torque(%) P60.04 and P60.05
Torque(Nm) P60.06 and P60.07
Frequency P60.08 and P60.09
Percent P60.10 and P60.11
Speed Ramp Rate P60.12 and P60.13
Torque Slew Rate P60.14 and P60.15
Current P60.16 and P60.17
Volts P60.18 and P60.19
Resistance P60.20 and P60.21
Inductance P60.22 and P60.23
User scaler 1 P60.24 and P60.25
Note: Table 4-26 includes a full list of Menu 60 parameters
4.14.1 Scaling Parameter Menu 60

Menu 60 Scaling Parameters are listed at Table 4-26.
4.15 CDC CAN Port Menu 61 Description
4.15.1 CAN Protocol P61.00

This parameter is used to select the protocol required to be used
on the CAN port
0 = No Protocol
1 = Standard CANopen
2 = DeviceNet
3 = MV1000 CANopen
4 = Drive to Drive 11
Option 1 must be selected to activate the CANopen protocol.
11
Special case for Fast Power Feedforward on AEM Drives.

4.15.2 Baud Rate P61.01

The following options are available:
0=1 M Baud
1=800k Baud
2=500k Baud
3=250k Baud
4=125k Baud
5=100k Baud
6=50k Baud
7=20k Baud
8=10k Baud
Select the Baud rate according to:
" the application requirements;

" the CANopen Fieldbus cable length;
" the existing network Baud rate;
" the available Baud rates on other nodes.
The maximum number of CAN packets per second, for a

selected Baud rate, can be approximated by dividing the Baud
rate by 100. For example, the 500 k Baud rate would allow
approximately 5000 packets per second on the CANopen bus.
4.15.3 Node ID P61.02

The CANopen specification allows each node attached to a
CANopen network to have a unique node address, between 1
and 255. The node address is needed to calculate the unique
CAN object identifier (COB-ID) for each CAN PDO message
when a standard configuration node is used, such as an I/O
profile node. The node ID is also required when the Network
Management (NMT) master is communicating with the node at
the SDO packet level.
The node derives its various COB-IDs required to support the

CANopen protocol from the node address. The software
supports the CANopen Static distribution method of allocating
these COB-IDs.
This method only provides 127 separate COB-IDs for each type
of protocol packet. As a consequence the node address must
be no more than 127. For this reason, the drive limits the node
ID to this value.

WARNING
Avoidance of Same Node ID
Ensure that no CANopen device has the same node ID as

any another device connected to the same network.
If nodes are configured with the same node address they will all
try to respond at the same time.
4.15.4 Configure Link P61.03

Once the node address has been entered, together with the
Baud rate, node ID and any Menu 62 parameters, it is necessary
to instruct the firmware to update the CANopen’s configuration.
This update is done by setting P61.03 to a ‘1’. The firmware
automatically rewrites this value to a zero when configuration is
complete. Only after this occurs will any changes to the board’s
configuration take effect.
If an attempt is made to produce a PDO with a COB-ID already

in use, the mode of the second and subsequent PDOs found to
generate the duplicate will be set to none and a warning will be
produced with text ‘Bad CAN Ident see P61.45’. COB-IDs
generated by selecting the Extended I/O Node ID parameters
will take precedence over the general purpose COB-ID.
4.15.5 Run On Power up P61.04
WARNING
Avoidance of Automatic Configuring at Power-up
The user should be aware that allowing the
CANopen link to automatically configure and run
on power up could represent a possible safety
hazard as the data from the network will be acted on by the drive.
Many users may require the CANopen link to be automatically

configured and run as the drive powers up. This option is
available by setting P61.04 to a 1. This would normally be the
last step during commissioning of the link.

For safety reasons the value of P61.04 is set to a default value

of zero.
4.15.6 Use Received Data P61.05

Disabling this parameter allows data to be sent to the CAN link,
and data from the CAN link to appear in the ‘spy’ menu –
Menu 89 – but not be placed in any ‘pointed to’ parameters.
Once it has been confirmed that the correct data is being
received, the drive can then be configured to ‘go-live’ by
enabling the P61.05 parameter.
Disabling this parameter has no effect on the CAN 1 healthy
status flag and it does not cause a freeze/fallback event.
Because parameters are no longer updated, in effect a freeze
situation has occurred.
4.15.7 CAN Communications Status P61.06

The P61.06 parameter displays one of the values shown at
Table 4-18 depending upon the state of the CAN interface.
Table 4-18 Communications Status

Value State Meaning
0 Off-line The CAN link is not communicating
The CAN interface has gone into the Bus Off
state due to many errors on the CAN bus.
1 Bus Off Incorrect Baud rate or CAN lines held low are
typical causes. It may also be due to faulty or
rogue devices.
Tx/Rx Errors Usually caused by being the only active node
2
Limit on the CANopen network.
The CAN link is communicating correctly.
This is a generic CAN link status message
3 On-line
which will not be displayed if the protocol is
CANopen.
The CAN link is in the initialising state. This
should be a momentary state, if ever seen. If
4 Initialising it is visible for any length of time, it is likely
that the CANopen network is continually
requesting this node to reset.

The CAN link has initialised and is awaiting a

5 Pre-operational ‘Start Node’ command from the CANopen
network. 12
The CAN link has been configured via the
6 Prepared network and is awaiting a ‘Start Node’
command from the CANopen network.
The CAN link has received a ‘Start Node’
7 Operational
command and is communicating correctly.
This is one of the CANopen extended boot-up
8 Disconnected
states which is not yet supported.
9 Connected
10 Preparing
11 Exp I/O Only A node ID of zero causes this state.
4.15.8 TX per Second P61.07

This is a diagnostic display of the number of transmissions per
second that the particular drive is producing.
4.15.9 RX per Second P61.08

This is a diagnostic display of the total number of receptions per
second that the particular drive is receiving.
Note: The total CAN packets per second on the network is the sum of P61.07
and P61.08.
4.15.10 CAN Error Word P61.09

When transferring data between the CAN link and the drive
parameters, several possible errors could occur. The error
format is listed at Table 4-19.
Table 4-19 Error Format for P61.09

Bit Error Format
Bit 0 Reserved
Bit 1 Parameter write access denied, parameter has ‘R’
attribute set
Bit 2 Data clamped to lower limit before being written
Bit 3 Data clamped to upper limit before being written
12
The start node enables the transmission and reception of PDO messages. Other
messages, such as SDO and NMT messages are always enabled.

Bit 4 Data below bit parameter range and not written

Bit 5 Data above bit parameter range and not written
Bit 6 Reserved
Bit 7 Attempt to write to a stop-to-edit parameter when
running, data ignored.
Bit 8 Attempt to read from a non existent parameter
Bit 9 Parameter read access denied.
Bit 10 – 15 Reserved
The errors apply because one or more of the data words in the
active PDOs have some form of access fault. Use of Menu 89
(see 4.17) will further identify the error cause. If an error does
occur then it appears in P89.01 for the PDO being spied upon.
The error word is the logical OR of any error occurring since the
last power-on or CAN Port Configuration (P61.03). Thus it is
possible to catch the occurrence of infrequent errors, such as an
attempt to write outside a parameter’s range. The error word will
be reset on enabling P61.03.
4.15.11 CAN Error Count P61.10

If the error is persistent, the count will increment rapidly. If it
increments slowly, it may be that occasional over range errors
have occurred.
The count will be reset on enabling P61.03.
4.15.12 Bus Off Action P61.11

If a bus off event occurs, it can be automatically cleared by
selecting 1=Reset. Entering a value of 0=Hold means that the
CAN peripheral is disconnected from the network until a power
cycle or configuration event occurs.
Be careful in selecting 1=Reset as a persistent error will jam the

CAN network.
4.15.13 CAN Loss Action P61.12

A loss of reference may be declared if the CANopen link detects
a loss of communications with the master.

When a loss of reference is declared one of three things can

happen, depending upon the state of P61.12. Valid values of
P61.12 are:
0 Ignore loss of reference errors and carry on running.

1 Upon a loss of reference set a warning and carry on
running.
2 Upon a loss of reference trip the drive.
The warning code for loss of communications is 130, and the trip
code is 200.
Status flag 111 indicates whether Fieldbus communications are

healthy or not.
4.15.14 Freeze/Fallback Action P61.13

P61.13 determines the action taken by the drive if the link to the
CANopen master fails. It affects what values are copied into the
Fieldbus reference parameters defined at 4.15.15. If freeze is
selected the parameter value freezes to the last good received
data. If fallback is selected, the associated fallback value (refer
to parameters P61.15 to P61.33 at Table 4-27) is copied into the
appropriate references.
4.15.15 References P61.14 to P61.29

The CAN module can provide up to 8 references for use within
the drive. These references can be used to control such values
as the speed (if pointed to by one of the speed reference
pointers) and torque. The CAN reference module needs to be
used in conjunction with Menu 42 (the Pointer Menu), which is
described at Section 6 of the Software Technical Manual T1679.
To place data from PDO 1 Word 1 (P62.02) into CAN Reference

1, for example:
- Set PDO 1 Word 1 to point at the CAN Reference 1

parameter, i.e. P62.02 = 61.14
The data received at this position will then be copied to P61.14.

WARNING
Avoidance of Duplicated Mapping
Ensure that no two Fieldbus parameters are mapped

to the same drive parameter as this will lead to
unpredictable results.
If a loss of CANopen reference is declared, the reference value

will no longer be updated by the CANopen link. In this situation
the user has the choice of using the last value obtained from the
CANopen link or using the fallback value.
In the earlier example, the fallback value for reference 1 can be
set to 0 by setting P61.15 = 0. To use the fallback value instead
of the last value received over the CANopen link set P61.13 = 1.
If this reference value was linked to the speed reference for
example, then upon loss of the CANopen link the speed would
automatically be clamped to zero.
Be aware that the fallback mechanism only applies to values in

the even numbered parameters between P61.14 to P61.32.
Received data transferred directly to drive parameters will not
have the fallback option but will freeze on loss of the network –
refer to the block diagram at the end of this manual.
4.15.16 Control Words P61.30 & P61.32

The CAN Menu can provide a source for two control word
parameters. Control flags are explained in the Getting Started
Manual for your specific drive, but basically allow control of such
functions as starting and stopping via a single bit in a 16-bit
parameter. The two control word parameters are capable of
controlling 32 control flags.
Normally, only one word of 16 control flags would be sufficient.

If more than 16 control flags are needed, P61.32 can be used to
hold a further 16 control flags.
Control flags in the CAN control words are selected by

specifying a control flag source (CFSRC) value in the range
7.000 to 7.031 which corresponds to bits 0 to 31 respectively.
The description of how to map control flag parameters to the

drive’s control flags in Menus 33 and 34 is given in the Getting

Started Manual for the host drive, and in more detail in the
Software Technical Manual T1679. The control flag parameters
also have an option of a fallback value if a loss of Fieldbus
reference is declared.
4.15.17 CAN Control Words 1 and 2 Fallback P61.31 & P61.33

These parameters are the fallback values for Control Word 1
and Control Word 2.
4.15.18 CANopen Version P61.34

This reflects the version of the CANopen Communications
Profile supported. It is fixed at 3.0 and is reserved for future
usage.
4.15.19 CANopen Master Func P61.35

When a number of drives are networked together using
CANopen, one of the Nodes has to start the PDO transmissions.
When this parameter is set to 1 = NMT Master, the drive will
broadcast a ‘start node’ command to all devices on the
CANopen network at periodic intervals.
If a node is late in powering-up or has reset for some reason, the

periodic ‘start node’ command will enable PDO transmissions
again.
There should be only one NMT master on any one CANopen

network.
When a drive wishes to start its Extended I/O nodes, as defined

in Menu 59, the value should be 1 or, more usually, 2 = I/O
Master. This will enable periodic ‘start node’ commands to be
sent to the Extended I/O nodes.
If there is already an NMT master on the CANopen network, or

the inputs from a shared Extended I/O node are being used, this
value should be set to 0 = Disabled. It then becomes the
responsibility of the other master to ensure the node is started.
In summary:
0 = No Master
1 = NMT Master (issues Start ALL Nodes)
2 = I/O Master

(issues Start Nodes that are defined as I/O by Menu

59)
4.15.20 CANopen Sync Master P61.36

One Drive can be selected to produce the CANopen SYNC
Object required for synchronous PDOs (see section 4.16.3).
The SYNC object period is defined in P61.37.
The SYNC master does not have to be the same device as the
NMT master. There should be only one SYNC master per
CANopen network.
4.15.21 Sync Master Period P61.37

The Sync Master Period is a value between 0 and 1000ms and
is used to produce SYNC objects when P61.36 is enabled.
4.15.22 Node Guard Method P61.38

The Node Guard Method is a parameter used to determine the
type of network watchdog employed. It can be one of the
following:
0 = None
1 = PDO presence
2 = Node Guarding
3 = Heartbeat.
Option zero employs no network watchdog.
Option 1 is for local drive CANopen networks without a fully

functioning CANopen NMT master.
Option 2 is defined in version 3.0 of the CANopen

Communications Profile.
Option 3 does not exist in version 3.0 of the CANopen

Communications Profile and becomes the preferred method in
version 4.0 of the CANopen Communications Profile.
On detection of a network watchdog fault, the CAN network

unhealthy status flag will become set. Depending on the value
of P61.12, this may cause a warning or a trip.
In current releases of the drive’s software, the value is fixed at

1 = PDO Presence.

4.15.23 Node Guard Period P61.39

The Node Guard Period is a value between 0 to 1000ms and is
used when P61.38 is non zero.
When PDO presence is the selected Node Guard Method, the

Node Guard Period is not used.
4.15.24 Life Time Factor P61.40

The Life Time Factor is used to multiply the Node Guard Period
(P61.39) to produce an overall Node Guard time. It has a range
of 0 to 60, thus the maximum Node Guard Time is 60 seconds.
When PDO presence is the selected Node Guard Method, the

Life Time Factor is the number of re-try periods plus 1 that the
drive will wait before deciding that it has not received a PDO
packet.
When configured to support Node Guarding or Heartbeat

monitoring, the Node Guard Time is used to determine when no
watchdog has been received from the NMT master.
4.15.25 PDO Inhibit Time P61.41

Reserved for future use.
4.15.26 Standard Slave P61.42

The Standard Slave is a momentary enable parameter, which,
when selected, causes all the Mode and Channel.ID parameters
in Menu 62, i.e. P62.x0 and P62.x1, x = 0 to 9, to follow the table
definition at Table 4-20.
Table 4-20 Table Definition for Mode and Channel ID Parameters

in Menu 62
PDO Mode Channel.ID Resulting COB-ID
1 Tx(100ms) 1.Node 384+Node
2 Rx(100ms) 2.Node 512+Node


9 None 0.0 0
10 None 0.0 0
Note: All previous values of these parameters are overwritten, so

use this parameter with care.
4.15.27 Warn/Trip Source P61.43

If the drive generates a warning or trip that refers to this
parameter for more details, the last cause is given here. 13
The causes are as follows:
0 None
1 PDO 1
2 PDO 2
3 PDO 3
4 PDO 4
5 PDO 5
6 PDO 6
7 PDO 7
8 PDO 8
9 PDO 9
10 PDO 10
11 Digital O/P
12 Analog O/P
13 Digital I/P
14 Analog I/P
15 Network Fault
You will get a Network Fault if the CAN cable is disconnected or

there are no other active nodes on the CAN network. Refer to
P61.06 to determine the type of network fault.
The producer PDOs will only generate a fault if the COB-ID is

invalid for that PDO. In this case warnings 130 and 132 will be
produced.
13
Only the last cause of the fault will be displayed here, even though there may be
multiple causes for the fault.

Because the SYNC period of synchronous consumed PDOs may

be greater than the time-out period these types of PDOs are not
checked.
By the use of P61.44, it is possible to exclude other PDOs from

the presence checking. In this way, only PDOs essential to the
particular process application will cause a fault if they are
missing.
4.15.28 UnMonitored PDO Mask P61.44

Any consumed PDO is, by default, checked for presence at an
interval of 100ms. P61.40 specifies the number of checks
before a fault is declared. P61.44 can be used to exclude PDOs
1 to 10 bit 0 corresponds to PDO 1, bit 2 corresponds to PDO2,
etc. if needed.
4.15.29 Bad CAN-ID Source P61.45

This parameter is used to indicate the source of bad and
duplicated CAN-IDs. The following causes are displayed:
0 = None
1 = PDO 1 Bad CAN-ID
11 = PDO 1 Duplicate
21 = Dig O/P Duplicate

22 = An O/P Duplicate
23 = Dig I/P Duplicate
24 = An I/P Duplicate
PDO x Bad CAN-ID indicates that the CAN-ID entered is illegal.

Legal CAN-IDs lie in the ranges ±1.127, ±2.127, ±3.127, ±4.127,
±5.127, ±6.127, ±7.127. Thus a CAN-ID such as 3.128 will give
the message ‘5=PDO 5 Bad CAN-ID’ when assigned to PDO 5.
If a digital input source is added to the drive's configuration, and
a PDO with that CAN-ID already exists, then the indication will
be 23 = 'Dig I/P Duplicate'. Similarly if a PDO is added to the
drive's configuration and that CAN-ID already exists as an
Extended I/O input node then again the indication will be 23=
'Dig I/P Duplicate’.
If a PDO is added to the drive's configuration and another PDO

on that drive has the same ID then the indication will be ‘PDO x
Duplicate’.
4.15.30 Bus off Count P61.50

This parameter indicates the number of Bus Off occurrences
(see P61.06) since the last CANopen configuration/drive power -
up.
4.15.31 Node to Access P61.51

When this parameter is non-zero, CAN Port 1 and other nodes
connected to CAN 1 bus are placed in a pre-operational state
and NMT messages (as specified by P61.35) are inhibited. To
allow the CAN1 bus to re-start a value of zero must be entered
4.15.32 Object to Access P61.52

This parameter is used to specify the CANopen object dictionary
item to be accessed. The parameter value is displayed in
hexadecimal to match the commonly used way of specifying
CANopen object dictionary terms.
4.15.33 Sub-Index to Access P61.53

This parameter is used to specify the CANopen object dictionary
sub-index item to be accessed. The parameter value is
displayed in hexadecimal to match the commonly used way of
specifying CANopen object dictionary terms.

4.15.34 Access Command P61.54

This parameter is used to specify the type of access possible.
0 = None
1 = NMT Stop
2 = Cancel 3 =
Read
4 = Write
If parameters P61.51 to P61.53 are invalid, and parameter

P61.00 is not set to CANopen, only option 0 is available.
If P61.00 and P61.51 are valid then option 2 (cancel) and option
3 (NMT Stop) are available.
If P61.52 is valid (non-zero) the read option is enabled.
If P61.56 is valid (non-zero) the write option is enabled.
4.15.35 Access Result P61.55

This parameter is used to specify the result of the commanded
access.
0. = None
1. = Actioning
2. = OK
3. = Not OK
4. = Cancelled 14
4.15.36 Access Data Length P61.56

The parameter displays the number of bytes received when a
read access is commanded. It is also used to specify the number
of bytes to write to the specified object and sub-index15when a
write access is commanded.
4.15.37 Access Bytes x & y P61.57 through P61.66

These parameters display read data or are used to specify the
write data. Each parameter specifies 2 bytes displayed in
hexadecimal format. The MSB defines the first of the 2 bytes to
14
This is displayed if the slave device aborts the transaction, or if the user cancels the
command.
15
The user is expected to know the format and length of the object and sub-index.

be received/transmitted in the CAN packet. The parameters are

displayed in hexadecimal to simplify the entry/decode of the
upper and lower bytes. 16
4.16 CDC CANopen Parameter Menu 62 Description

This menu will be used to configure the 10 CANopen PDO
packets.
Each active PDO packet can contain up to four 16-bit words. In

order to simplify the selection of the COB-ID and other CANopen
packet details, the concept of Channel ID and Node ID will be
used. The COB-ID will be derived from the Channel.ID selected.
Other details will be derived from the Mode and the sign of the
Channel.ID.
4.16.1 CDC CANopen Menu 62 Parameters

Menu 62 CDC CANopen Parameters are listed at Table 4-28.
4.16.2 PDO 1 Mode P62.00

The Mode parameter is used to enable the PDO packet and to
specify whether it is produced or consumed and at what rate.
For both the produce/transmit (Tx) and consume/receive (Rx)
PDOs, the data can be set to update at one of the four drive
update rates. The drive update rates are: 1.25 ms; 5 ms; 10 ms
and
100 ms. The majority of parameters need only be updated at the
10 ms rate. Some monitored parameters, such as temperature,
need only be updated once every 100 ms whereas a torque
reference may need to be updated at 5 ms. The allocation of any
parameter to the 1.25 ms update rate should be used with care -
it may cause network and CPU loading problems.
1 =RX (100 ms)

2 =TX (100 ms)
3 =RX (10 ms)
4 =TX (10 ms)
5 =RX (5 ms)
16
CANopen usually transmits data LSB first, so a 32 bit value of 8000281h will be
displayed as :
P61.57 = 8102h
P61.58 = 0080h

6 =TX (5 ms)
7 =RX (1.25 ms)
8 =TX (1.25 ms)
9 =RX (PWM) 17
10=TX (PWM)
Excessive allocation of PDOs to the faster update rates should

be avoided. An allocation design guide of no more than one
PDO update per milli-second should be followed. This is
equivalent to 10 PDO updates per 10 ms. Thus if one PDO is
allocated to the 1.25 ms rate, i.e. 8 updates per 10 ms, only one
further PDO can be allocated to the 5 ms rate, i.e. 2 updates per
10 ms, or two PDOs can be allocated to the 10 ms rate. If no
PDOs are allocated to the 1.25 ms rate, all 10 PDOs could be
allocated to the 10 ms rate, or 5 PDOs could be allocated to the
5 ms rate. There is no restriction on the number of PDOs, or
remaining PDOs, which can be allocated to the 100 ms update
rate.
From the above design rule it can be seen that no more than
one PDO should be allocated to the 1.25 ms rate.
Table 4-21 lists the PDO allocation and the number of PDO
packets that can be transmitted at the four update rates.
Table 4-21 PDO Allocation Without I/O

Quantity of PDOs at
1.25 ms 5 ms 10 ms 100 ms
0 5 0 5
0 4 2 4 0 3 4 3 0 2 6 2 0 1 8 1 0 0 10 0 1 0 0 9 1 1 0 8 1 0 2 7
17
Options 9 and 10 only available if P61.00 = 4 – ‘Drive to Drive’.

When the Extended I/O menu is active, and I/O nodes are
specified, the Extended I/O PDOs will be included in the above
rate.
Digital I/O requires 1 PDO per 10 ms per direction. Analogue I/O

requires 2 PDO per 10 ms per direction. Thus a fully configured
Extended I/O menu will require 6 PDO per 10 ms, leaving only 4
PDOs per 10 ms for the general purpose CANopen PDOs in Menu
62. This means that four 10 ms PDOs or two 5 ms PDOs can be
configured before a warning is produced. In this case a 1.25 ms
rate PDO will produce a warning 131 for ‘CAN PDO/sec too high’.
Table 4-22 lists the effect on PDOs of adding Extended I/O.
Table 4-22 Effect on PDOs of adding Extended I/O

Update Number Number of I/O that can be configured
Rate of
Digital Digital Analog Analog
ms PDOs Inputs Outputs Inputs Outputs
1 0 0 1 0
1.25 1 0 0 0 1
0 1 1 1 1
5 0 0 0 0
4 0 0 1 0
4 0 0 0 1
3 0 0 1 1
5 3 1 1 1 0
3 1 1 0 1
2 1 1 1 1
1 1 1 1 1
0 1 1 1 1
10 0 0 0 0
9 1 0 0 0
9 0 1 0 0
8 1 1 0 0
8 0 0 1 0
8 0 0 0 1
7 1 1 0 0
7 1 0 1 0
7 1 0 0 1
7 0 1 1 0
10
7 0 1 0 1
6 1 1 1 0
6 1 1 0 1
5 1 1 1 0

5 1 1 0 1
5 0 1 1 1
5 1 0 1 1
4 1 1 1 1
3 1 1 1 1
2 1 1 1 1
1 1 1 1 1
0 1 1 1 1
100 8 1 1 1 1
4.16.3 PDO 1 Channel.ID P62.01

When transferring data between drives, one producing the data
and at least one consuming the data, the Channel.ID number
should be the same value for both the producer and the
consumers.
If any Extended I/O or other third party CANopen devices are

present on the CANopen network, it becomes necessary to
understand how the COB-IDs described at 4.13.2 are calculated
to ensure that COB-IDs are not duplicated.
The COB-ID number is calculated according to the data

contained at Table 4-23.
Table 4-23 Data for Calculation of COB-ID Number

Channel.ID Resulting COB-ID
0.xxx Invalid 1.xxx 384+xxx 2.xxx 512+xxx 3.xxx 640+xxx 4.xxx
768+xxx 5.xxx 896+xxx 6.xxx 1024+xxx 7.xxx 1152+xxx 8.xxx
1280+xxx
Notes: (1) ID numbers greater than 127 are invalid.

(2) Invalid Channel.ID numbers will produce warning 132
‘Bad CAN-ID see P61.45’.
(3) Warning 130 ‘CAN 1 Loss see P61.43’ may also be
produced.

(4) The use of the spy menu, Menu 89, will help pin-point the
faulty Channel.ID as will the absence of the PDO on
another drive.
Example:
A Channel.ID of 1.023 will result in a COB-ID of 384 + 23 = 407,
the corresponding COB-ID for channel 2 would be 512 + 23 =
535 and channel 8 is 1280 + 23 = 1303.
If connecting to a CANopen DS 401 I/O Profile device, the type

of input or output can be accessed by reference to Table 4-24.
Table 4-24 Type of I/O Device for Access from a CANopen

DS 401 I/O Profile Device
Channel.ID Type of I/O COB-ID
1.xxx Digital inputs from node xxx 384+xxx
Digital outputs to node xxx
2.xxx 512+xxx
3.xxx Analog inputs from node xxx 640+xxx
Analog outputs to node xxx
4.xxx 768+xxx
Specifying a negative Channel.ID causes the PDO to become

synchronous with the special CANopen SYNC object message.
A PDO will be produced on the next drive internal update rate
following the reception of a SYNC. Received PDO data will be
transferred into the drive’s parameters on the next update rate
following the SYNC.
Notes: (1) It is necessary for a SYNC object to be periodically

produced onto the CANopen network for
synchronous PDOs to be active.
(2) The drive can be configured to be a SYNC object
producer via parameters P61.36 and P 36.37.
4.16.4 PDO 1 Word 1 Pointer P62.02

Depending on whether the PDO is a producer or consumer, this
is the pointer to the source or destination parameter of the first
PDO word.
Although it is possible to select any valid parameter number, the

CANopen Fieldbus may not have the necessary write access
rights to the parameter. While some parameters can be directly
written to, others, such as references, cannot. For this reason a

group of reference parameters are available to hold the received

reference (P61.14 to P61.28). These references are then
pointed to by Menu 42 for inclusion into the relevant reference
selector.
4.16.5 PDO 1 Word 1 Scale P62.03

This is the Scaler for the PDO word 1. The default of zero is
unity scaling. One of the scale types set up in Menu 60 can be
selected to convert the drive scaling for a parameter into
CANopen scaling and vice-versa.
For example, if the parameter selected is speed, where a value

of 10000 represents 100.00% within the drive, but the CANopen
network requires 16383 to represent 100% 18, option 1 (Speed %)
would be selected for the parameter scaler. In Menu 60, P60.00
would be set to 10000 and P60.01 would be set to 16383.

The description for a PDO 1 Word 2 Pointer is the same as for
the PDO 1 Word 1 Pointer (see 4.16.4) except that it is the data
that is in the second two bytes of PDO data.
If this and the subsequent PDO Word pointers contain 00.00,

less than 8 bytes of PDO data will be sent, thus optimising the
CAN bandwidth usage.

The description for a PDO 1 Word 2 Scaler is the same as that
for the PDO 1 Word 1 Scaler (see 4.16.5).

The description for this is the same as for the PDO 1 Word 1
Pointer (see 4.16.4) except that it is the data that is in the third
two bytes of PDO data.

18
The drive can represent ±300% using its scaling, but the network can only represent
±200% in a 16-bit word.


The description for a PDO 1 Word 4 Pointer is the same as that
the PDO 1 Word 1 Pointer (see 4.16.5) except that it is the data
that is in the last two bytes of PDO data.
4.16.11 PDO 1 Word 4 Scale P62.09

4.16.12 Translation to PDO Mapping Dictionary Objects

The information entered into the Menu 62 PDO parameters is
used to create the PDO mapping information as defined by the
Communication Profile PDO Communication and Mapping data
structure.
Data length of PDO, range 1 to 4 words

This is used to shorten the transmitted PDO if less than the
entire PDO data field is used. If a pointer is defined for one of
the PDO data words, the Data Length value will be adjusted to
include all data defined by the relevant pointer. For example, if
the Pointer for word 4 is non zero, the Data Length will be 4 no
matter what the other pointers contain. If no pointers are
defined, a transmit PDO will not be transmitted.
Class of the PDO, range 0 to 7

This specifies the number of transmitters and receivers of the
PDO.
Minimum transmission interval in 0.1 milli-seconds

This is the drive update rate for the selected PDO.
The data mapping per word produces an object dictionary

index value in the range 10100 to 19999 (as described at 4.3)
The sub-index value is always 1 to denote the parameter value.

The data length is always 16.
4.17 Data Spy Parameters P89.00 to P89.06

The Data Spy parameters can be used to help debug and
commission the CANopen network as well as monitoring data
transactions during normal operation. Using the spy area of

Menu 89 it is possible to monitor data received by the module, in

its unmodified form. The data is available in parameters P89.01
to P89.05 and corresponds to the COB-ID of the PDO of interest
followed by up to four 16-bit words of data.
The values are displayed in decimal with no scaling and should

be exactly what is appearing on the CANopen network.
To select a PDO to be spied upon, enter the PDO mode

parameter in P89.00, i.e. P89.00 = 62.00 for PDO1, 62.10 for
PDO 2, etc.
The Data Spy Menu 89 Parameters are listed at Table 4-29.
4.18 Parameter Listing
4.18.1 Menus Listed

This section includes a listing of all the parameters, grouped in
menus, for ease of reference. The listing includes:
Menu 59 Extended I/O - see Table 4-25

Menu 60 Scaling - see Table 4-26
Menu 61 CDC CAN Port - see Table 4-27
Menu 62 CDC CANopen - see Table 4-28
Menu 89 Data Spy - see Table 4-29
4.18.2 Attributes
All parameters have attributes that specify how they may be
accessed. The types of attributes used in this manual are:
R = Read only
E = Engineer Accessible
O = Operator Accessible
L = List parameter
N = Enter parameter
S = Stop to edit.

4.18.2 Extended I/O Menu 59

Table 4-25 Extended I/O Menu 59
Parameter Name Default Range Attrib Comment
P59 Extended I/O Menu
P59.00 Digital I/P Node ID 0 0 to 127 E
P59.01 Analog I/P Node ID 0 0 to 127 E
P59.02 Analog O/P Node ID 0 0 to 127 E
P59.03 Digital O/P Node ID 0 0 to 127 E
P59.04 No. of Digital I/Ps 0 0 to 64 E
P59.05 No. of Digital O/Ps 0 0 to 64 E
P59.06 Digital I/Ps 0..15 0000h to FFFFh R
P59.10 Ext Analog I/P 1 binary 0 R
P59.11 Ext Analog I/P 1 Full Scale 32767 ±32,767 E
P59.12 Ext. Analog I/P 1 Offset 0 ±10,000 E
P59.13 Ext Analog I/P. 1 Drive FS pu 10000 ±30,000 E
P59.14 Ext Analog I/P 1 pu Scaled 0 R
P59.30 Ext Analog O/P 1 Src 00.00 00.00 to 99.99 E.N
P59.31 Ext Analog O/P. 1 Drive FS pu 10000 ±30,000 E

Table 4-25 Extended I/O Menu 59

Parameter Name Default Range Attrib Comment
P59.32 Ext Analog O/P 1 Full Scale 32767 ±32,767 E
P59.33 Ext. Analog O/P 1 Offset 0 ±10,000 E
P59.34 Ext Analog O/P 1 pu 0 R
P59.46 Ext Analog O/P. 4 Drive FS pu ±30,000 E
P59.50 Ext Dig O/P 0 Src 0.000 ±CFSRC range E
P59.51 Ext Dig O/P 1 Src 0.000 ±CFSRC range E
:
P59.81 Ext Dig O/P 31 Src 0.000 ±CFSRC Range E.N
P59.82 Ext Dig O/P 0..15 0000 to FFFF R
P59.83 Ext Dig O/P 16..31 0000 to FFFF R
P59.84 Ext IO Loss Action 1 0 = No Action E.L.N
1 = Warning
2 = Trip

4.18.3 Scaling Parameter Menu 60

Table 4-26 Scaling Parameter Menu 60
Par No Name Default Range Attrib. Comment
P60.00 Drive Speed (%) 10000 ±32,767 pu % E
P60.01 Extern Speed (%) 10000 ±32,767 pu % E
P60.02 Drive Speed (rpm) 1000 ±32,767 pu rpm E
P60.03 Extern Speed (rpm) 1000 ±32,767 pu rpm E
P60.04 Drive Torque (%) 10000 ±32,767 pu % E
P60.05 Extern Torque (%) 10000 ±32,767 pu % E
P60.06 Drive Torque (Nm) 10000 ±32,767 pu Nm E
P60.07 Extern Torque (Nm) 10000 ±32,767 pu Nm E
P60.08 Drive Frequency 100 ±32,767 pu Hz E
P60.09 Extern Frequency 1 ±32,767 pu Hz E
P60.10 Drive Percent 10000 ±32,767 pu % E
P60.11 Extern Percent 10000 ±32,767 pu % E
P60.12 Drive Ramp Rate 10000 ±32,767 pu/s E
P60.13 Extern Ramp Rate 10000 ±32,767 pu/s E
P60.14 Drive Torque Rate 10000 ±32,767 pu/s E
P60.15 Extern Torque rate 10000 ±32,767 pu/s E
P60.16 Drive Current 10 ±32,767 pu A E
P60.17 Extern Current 1 ±32,767 pu A E
P60.18 Drive Volts 1 ±32,767 pu V E
P60.19 Extern Volts 1 ±32,767 pu V E
P60.20 Drive Resistance 1 ±32,767 pu © E
P60.21 Extern Resistance 1 ±32,767 pu © E
P60.22 Drive Inductance 1 ±32,767 pu H E
P60.23 Extern Inductance 1 ±32,767 pu H E
P60.24 Drive Scalar 1 1 ±32,767 pu E
P60.25 Extern Scalar 1 1 ±32,767 pu E

4.18.4 CDC CAN Port Menu 61

Table 4-27 CDC CAN Port Menu 61
P61.00 CAN Protocol 0 0=None E.L
1= Standard
CANopen
2=DeviceNet
3= MV1000 CANopen
4= Drive to Drive
P61.01 CAN Baud Rate 2 0=1M Baud* E.L *Not supported
1=800k Baud* on early
MV3000e
2=500k Baud
Drives
3=250k Baud
4=125k Baud
5=100k Baud
6=50k Baud
7=20k Baud
8=10k Baud
P61.02 Node ID 0 0 to 255 for CANopen E.N Only
0 to 63 for DeviceNet operational for
Node ID’s
1-127
P61.03 Config CAN Port 0 0 or 1 E.L.N
P61.04 Config. on Power Up 0 0 or 1 E.N
P61.05 Use Received Data 1 0 or 1 E.L
P61.06 CAN Comms. state 0=Off-line R
1=Bus Off
2=Tx/Rx Errors Limit
3=On-line
4=Initialising
5=Pre-opperational
6=Prepared
7=Operational
8=Disconnected
9=Connected
10=Preparing
11=Exp I/O Only
Packets/sec
P61.07 TX Per Second R

P61.08 RX Per Second Packets/sec R
P61.09 CAN Error Word 0000 to FFFFh R.
P61.10 CAN Error Count 0 0-65535 R
P61.11 Bus Off Action 1 0=Hold E.N.L
1=Reset Port
P61.12 CAN Loss Action 1 0=Ignore E.L


1=Set Warning Bit
2=Trip Drive
P61.13 Freeze/Fallback on loss of 0 0= Freeze E.L.S
CAN 1= Fallback
P61.14 CAN Reference 1 0 ±.00 % E
P61.15 CAN Ref. 1 Fallback 0 ±200.00 % E
P61.16 CAN Reference 2 0 ±200.00 % E
P61.18 CAN Reference 3 0 ±200.00 % E
P61.20 CAN Reference 4 0 ±200.00 % E
P61.22 CAN Reference 5 0 ±200.00 % E
P61.24 CAN Reference 6 0 ±200.00 % E
P61.26 CAN Reference 7 0 ±200.00 % E
P61.28 CAN Reference 8 0 ±200.00 % E
P61.30 CAN Control Word 1 0 0000 to FFFFh E
P61.31 Control Fallback 1 0 0000 to FFFFh E
P61.32 CAN Control Word 2 0 0000 to FFFFh E
P61.33 Control Fallback 2 0 0000 to FFFFh E
P61.34 CANopen Version 3.0 3.0 – 4.0 E
P61.35 CANopen Master Func 2 0=disable E
1=NMT Master
2=IO Master
P61.36 CANopen Sync Master 0 0=disable E.N
1=enable L
P61.37 Sync Master Period 0 0 to 1000ms E
P61.38 Node Guard Method 1 0=None E.L
1=PDO presence
2=Node Guarding
3=Heartbeat
P61.39 Node Guard Period 0 0 to 1000 ms E
P61.40 Life Time Factor 1 0 to 60 E
P61.41 PDO Inhibit Time 0 0 to 1000 ms E.N
P61.42 Standard Slave 0 0=disable E.N
1=enable L


P61.43 Warn/Trip Source None R
P61.44 UnMonitored PDO Mask 0000h 0000 to FFFFh E
P61.45 Bad CAN-ID Source None 0 = None R
1 = PDO 1 Bad
CAN-ID
2 = PDO 2 Bad
CAN-ID
3 = PDO 3 Bad
CAN-ID
4 = PDO 4 Bad
CAN-ID
5 = PDO 5 Bad
CAN-ID
6 = PDO 6 Bad
CAN-ID
7 = PDO 7 Bad
CAN-ID
8 = PDO 8 Bad
CAN-ID
9 = PDO 9 Bad
CAN-ID
10 = PDO 10 Bad
CAN-ID
11 = PDO 1
Duplicate
12 = PDO 2
Duplicate
13 = PDO 3
Duplicate
14 = PDO 4
Duplicate
15 = PDO 5
Duplicate
16 = PDO 6
Duplicate
17 = PDO 7
Duplicate
18 = PDO 8
Duplicate
19 = PDO 9
Duplicate
20 = PDO 10
Duplicate
21 = Dig O/P
Duplicate
22 = An O/P
Duplicate


23 = Dig I/P
Duplicate
24 = An I/P
Duplicate
P61.50 Bus off Count 0 0-65536 R

P61.51 Node to Access 0 0 to 127
P61.52 Object to Access 0 0 to FFFFh
P61.53 Sub-Index to Access 0 0 to FFFFh
P61.54 Access Command 0 0 = None L, E
1 = NMT Stop
2 = Cancel
3 = Read
4 = Write
0 = None
P61.55 Access Result 0 R
1 = Actioning
2 = OK
3 = Not OK
4 = Cancelled
P61.56 Access Data Length 0 0 to 20
P61.57 Access Bytes 1 & 2 0 0000 to FFFFh
P61.58 Access Bytes 3&4 0 0000 to FFFFh

4.18.5 CDC CANopen Menu 62

Table 4-28 CDC CANopen Menu 62
Par No Description Default Range Attrib. Comment
P62.00 PDO 1 Mode * 0 0=Unused E.L.N
1=RX (100 ms)
2=TX (100 ms)
3=RX (10 ms)
4=TX (10 ms)
5=RX (5 ms)
6=TX (5 ms)
7=RX (1.25 ms)
8=TX (1.25 ms)
±
P62.01 PDO 1 Channel.ID * 0.000 8.127 E.N
P62.02 PDO 1 Word 1 Pointer * 00.00 0-99.99 E.N
P62.03 PDO 1 Word 1 Scale * 0 0=Unity E.L
1=Speed (%)
2=Speed (RPM)
3=Torque (%)
4=Torque (Nm)
5=Frequenecy
6= Percent
7= Speed Ramp Rate
8= Torque Slew Rate
9=Current
10=Volts
11=Resistance
12= Inductance
13=Scaler 1
14=Scaler 2
15=Scaler 3
0-99.99
P62.04 PDO 1 Word 2 Pointer * 00.00 E.N
P62.05 PDO 1 Word 2 Scale * 0 As per P62.03 E.L
P62.10 Definition of PDOs 2 to 10 *
to
P62.99
Note: * This parameter requires a CANopen reconfiguration before changes can

take effect i.e. set P61.03 = 1.

4.18.6 Using the Data Spy

Table 4-29 Data Spy Menu 89
Parameter Description Value Meaning
P89.00 Spy Config. 62.00 Spy PDO 1
P89.01 Spy Data 1 394 PDO 1 COB-ID
P89.02 Spy Data 2 xxxx PDO 1 Word 1
P89.03 Spy Data 3 8192 PDO 1 Word 2
P89.05 Spy Data 5 Uncollated PDO 1 Word 4
P89.06 Spy Data 6 Uncollated Unused
: : Unused
P89.32 Uncollated Unused


ALSPA MV3000e CANopen 5. Commissioning
5. Commissioning
WARNINGS
Multiple Circuits
This equipment may be connected to more than one

live circuit. Disconnect all supplies before working
on the equipment.
Energy Discharge
Wait at least 5 minutes after isolating supplies and check

that voltage between DC+ and DC- has reduced to a safe
level before working on this equipment.
5.1 Mechanical Checks

Check that the CANopen connection has been installed in
accordance with the instructions given at Section 3. Check
particularly for the following:
(a) correct connector and cable types;

(b) suitable cable length;
(c) no ‘T’ connections in the network;
(d) segregation of wiring to minimise electromagnetic
interference;
(e) networkterminationresistors have been fitted as
recommended.
5.2 Tools and Equipment

The only equipment required for commissioning CANopen is
either an ALSPA Drive Data Manager™ (Keypad)
MVS3000-4001 or an ALSPA Drive Coach MVS3004-4001 with
an associated PC for loading the CANopen software into either
the ALSPA MV3000e Drive or the ALSPA MV DELTA Drive.
No special tools are required to commission CANopen

5. Commissioning ALSPA MV3000e CANopen
5.2.1 CANopen Configuration

The ALSPA MV3000e drives are configured, controlled and
monitored by reading and writing drive parameter values. This
principle extends to the CANopen Fieldbus when it is fitted.
Drive parameters are accessed by either:
- using the Drive Data Manager™ (Keypad);
OR
- the PC programming package ALSPA Drive Coach using

Serial Link communications.
Use of the Drive Data Manager™ (Keypad) and serial links for
the drive is explained in the ALSPA MV3000e Technical
Manuals (see 1.6).
Section 4 of this manual, describes how to configure and control

the CANopen connection, using the drive parameters. To aid
configuration of the CANopen connection, a worked example is
provided at Appendix A.
Figure 5-1 to Figure 5-3 show the recommended sequence for

commissioning CANopen software for Extended I/O.

Extended I/O This procedure assumes

Commissioning that all parameters are at
Sequence factory default and that no
application code has been
entered.
With Power OFF
Connect the ALSPA MV3000 to the I/O

See Section 3
Nest(s) in accordance with the
recommendations in this manual. Installation
Is the resistance between

CAN_Hi and CAN_Lo NO
approximately 60 Ohms?
YES
Follow the
manufacturer's
Apply Power to Set the I/O Nest(s) for the appropriate instructions to
the I/O Nest(s) Baud Rate and Node ID(s) ensure correct
setting and operation
of the I/O Nest(s)
Apply Power to the

ALSPA MV3000
Main AC or 24V DC
Using the ALSPA Drive

Data Manager or ALSPA
Drive Coach set P1.31 =
2 'All Menus Open'
Set P61.00 'Protocol' = 1 'CANopen'

Set P61.01 'Baud rate' = Required Baud Rate
Set P61.02 'Node Address' = Drive Node ID
Set P61.05 'Used Received Data' = 0
Set P61.35 'CANopen NMT Master' = 2 'IO Master'
Set P61.03 'Config CAN Port' =1
Is P61.06 'CAN Check Cabling and

NO Terminations
Comms Status' =7
'Operational' Check Baud Rate
Settings at all Nodes
Check I/O Nodes
YES are 'Operational'
Continue
Figure 5-1 Commissioning Sequence for Extended I/O – Page 1

Continue
Set P59.00 'Digital Set P59.01 'Analog Set P59.02 'Analog Set P59.03 'Digital
Input Node ID' Input Node ID' Output Node ID' Output Node ID'
= Node ID of source of = Node ID source of = Node ID destination = Node ID destination
digital inputs analog inputs for analog outputs for digital outputs
Has a Warning/Trip YES Check Status of

been generated? appropriate Node
NO
Note: set for Total
Set P59.04 'No. of Digital I/Ps'
no. Inputs fitted, not
= Quantity of Digital Inputs fitted at source Node
being Inputs used.
Exercise the Digital

Inputs and Check that Note: CANopen,
the correct state is generally, only
monitored by P59.06, transmits on
P59.07, P59.08 and change of state.
P59.09 as appropriate.
Note: set for total

Set P59.04 'No. of Digital I/Ps' no. Outputs fitted,
= Quantity of Digital Inputs fitted at source Node not being Outputs
used.
Repeat for P59.01 etc

Set P59.50 'Ext Digital O/P 0 Src' = 1
until all outputs fitted
have been checked.
Check that the correct state is Note: ALSPA MV3000

monitored by P59.82 and that the will transmit on change
correct output is energised. of state or after 100ms
Reset P59.50 to '0' and check whichever is the sooner.
the change of state.
Continue

Continue
Excercise the first Extended Analog Input and Repeat for P59.15 etc
check that the expected values can be seen in until all inputs fitted have
P59.10 'Ext Analog I/P 1 binary' been checked.
Note: CANopen,
generally, only
transmits on change
NO
Does this happen? of state.
Check the analog source

Check the analog input
YES module.
Set P59.30 'Analog O/P 1 Src' = P21.00 'Fixed Ref

0' Monitor Extended Analog Output 1 and check that
it responds correctly to changing values in P21.00
The number of Analog

Outputs transmitted
Does the Extended Analog NO may have to equal the
Output change? number fitted. Set
P59.35, P59.40 and
P59.45 as necessary
YES
Note: ALSPA MV3000 will

Repeat for P59.35 etc
transmit on change of state
until all outputs fitted
or after 100ms whichever is
have been checked.
sooner.
Refer to the ALSPA

Return the ALSPA MV3000 Getting
MV3000 to Factory Started Manual
Default Settings T1676 Paragraph
4.3.5
Note: This step can be ignored if the

edits are required for commissioning
the drive. To review edits use P35.03
and remove any that were for
commissioning the I/O only and are
not now required by the drive.
End of this Procedure


ALSPA MV3000e CANopen 6. Electronic Data Sheet File
6. Electronic Data Sheet File
6.1 Introduction
In order for a CANopen Master device to communicate with other
CANopen compliant units on a network it needs to know, from a
CANopen point of view, the capabilities of those units. These
capabilities are described in a file provided by the unit’s
manufacturer known as an EDS (Electronic Data Sheet) file, and
is in a simple text format and has file name extension of “.eds”.
The Electronic Data Sheet can be used to describe the

communication functionality and objects as defined in the
CANopen CAL-based Communication Profile DS 301.
The Electronic Data Sheet is normally divided into three parts:
(a) information for the EDS file (e.g. creation time, version
etc.);
(b) general advice information (e.g. name, serial number,

hardware revision etc.)
(c) object dictionary with default values.
6.2 The Electronic Data Sheet File for ALSPA MV Drives

The Electronic Data Sheet (EDS) File is used to provide a profile
of a slave device to a CANopen master. In the context of this
manual the slave device is either the ALSPA MV3000e Drive or
the ALSPA MV DELTA Drive.
The EDS File details all the drive parameters, including those in
use for CANopen, and enables certain packages to be used to
configure a CANopen master.
A copy of the EDS file is included at the front of this manual.

This file can be used to configure the CANopen master for use
with the drives.

6. Electronic Data Sheet File ALSPA MV3000e CANopen

ALSPA MV3000e CANopen 7. Maintenance
7. Maintenance
7.1 General Guidance

When the CANopen is enabled in an ALSPA MV3000e Drive, its
maintenance requirements are included with maintenance of the
drive, described in the T1676 ALSPA MV3000e Getting Started
Manual. The drive maintenance consists generally of checking
for ingress of dust and moisture, and checking for security of
electrical connections. The latter checks should include all the
cables and connectors used for CANopen connections.
7.2 Firmware Revisions

Firmware revisions for the CANopen software used in the ALSPA
MV3000e Drive are available from Converteam. Contact
Converteam for details at the Customer Support telephone
number listed at the end of this manual.

7. Maintenance ALSPA MV3000e CANopen

ALSPA MV3000e CANopen 8. Diagnostics
8. Diagnostics
8.1 Faults
If a link, that was previously working, stops working then one of
the two error codes may be displayed depending upon the
setting of P61.12.
8.2 CAN Warning Fault Code

Table 8-1 shows the warning fault codes displayed in the drive
warnings tables, if the CAN link is not healthy, and P61.12,
action on loss of CAN control source has been set to "warning".
Table 8-1 Warning Fault Codes

Fault Name Description
Code
130 CAN 1 Loss CAN is not communicating correctly – refers
to P61.43 for cause
131 CAN
PDO/sec PDOs allocated to a scan are exceeding too high
recommended quantity
132 Bad CAN ID Bad or duplicated CAN ID - refers to P61.45
for their identification
135 CAN 1 PDO/IO PDO and IO have IDs clashing
clash
8.3 CAN Trip Fault Code

Table 8-2 shows the trip fault code displayed in the drive trip
tables when the CAN link is not healthy, and P61.12, action on
loss of CAN control source, has been set to "trip".
Table 8-2 Trip Fault Code

Fault Name Class Description
Code
200 CAN 1 Loss R CAN is not communicating correctly
A= Auto resettable trip-see menu 28

R = Manually resettable trip
S = System trip
N = Non resettable trip

8. Diagnostics ALSPA MV3000e CANopen
8.4 CAN Status P61.06

Parameter P61.06 displays the state of the communications; see
4.15.7.
8.5 Spares
The CANopen interface is an integral part of the drive CDC
(Common Drive Controller) board. The board does not contain
any user replaceable parts and spares are therefore not
applicable to the CANopen product. In the event of a CDC
failure refer to Converteam Customer Support at the telephone
number listed at the end of this manual.

ALSPA MV3000e CANopen Appendix A – Configuration Examples
Appendix A - Configuration Examples
A.1 Introduction
Consider a drive on a CANopen network that requires a
Run/Stop command, speed reference and minimum speed set
via the CANopen network. The drive produces its speed
feedback and torque demand onto the CANopen network. This
drive is to have a CANopen node address of 10. The Baud rate
is to be 500 k Baud. The drive is to have the COB-IDs based
upon the Node ID.
Realistically Run/Stop and speed reference would probably be a

‘global’ requirement for other drives on the network, whereas
minimum speed may only be required individually.
The drive first needs to be commissioned to run the motor, so

carry out the commissioning procedure in the ALSPA MV3000e
technical manuals. Assuming the drive and CANopen are
correctly installed, the CANopen network now needs to be
configured.
Refer to the block diagrams at the rear of this manual to

visualise the parameters and their uses.
A.2 Decide what information needs to be transferred.

For a more complex set of data to be transferred, the tables
contained in Appendix B - Configuration Tables may help in the
allocation of the parameters. In this example, the requirements
are simple, so we will not use the configuration tables.
The monitored data is allocated to the first PDO using

parameters P62.00 to P62.09. The received data is allocated to
the second PDO using parameters P62.10 to P62.19.
A.3 Configure the CANopen Link

Before configuring P61.00, the CAN Comms State, P61.06 will
display ‘Off-line’. To configure basic CAN information into the
drive, the parameters listed at Table A-1 need to be set.
(10/06) Technical Manual T2013EN Page A-1

Appendix A – Configuration Examples ALSPA MV3000e CANopen
Table A-1 Basic Set-up

Parameter Value Meaning
P61.00 1 Set Protocol to CANopen
P61.01 2 Set the Baud rate to 500k
P61.02 10 Set the node ID to 10
P61.42 1 Set the first 8 PDOs to default
P61.12 is set to warn until the link has been fully commissioned
at which time it can be set to the desired state.
To configure the drive set P61.03 to a 1. This will be rewritten to

a zero when configuration has been completed. With the
CANopen link disconnected, or if the CANopen master has not
been configured to communicate with slave 10, the CAN
Comms. State, P61.06 will display ‘Pre-operational’. As soon as
the CAN link is made, the receive packet count, P61.08 will
display the total number of packets on the CANopen network.
As soon as the CANopen master has activated either node 10,
or the whole network, P61.06 will display ‘operational’ and the
warning LED on the keypad will extinguish. At this point, no
PDOs have been configured, so the transmit packet count,
P61.07 will read zero.
Note: Setting P61.04 to a 1 allows the CANopen link to be

automatically configured as the drive powers up.
A.4 Adding Drive Parameters

Having configured the CANopen link it is then necessary to
configure where the information to be transmitted over the link
comes from and received information goes to. There are three
basic types of data parameters: simple parameters, references
and control/status bits.
A.4.1 Status Word

Any drive status word can be sent to the CAN network, either a
pre-defined one from Menu 11, or a user-configured one from
Menu 41, or a user configured one from an unused extended
digital output word from Menu 59. This example, shown at
Table A-2, will send the first 16 Status Flags in P11.30, as PDO
1 Word 1.
Page A-2 Technical Manual T2013EN (10/06)

A.4.2 Simple Parameters

Simple parameters are parameters that the CANopen network
can be configured to write to or read from directly. In this
example the minimum speed, speed feedback and torque
demand are examples of simple parameters.
To transmit simple parameters out onto the link, enter the

parameter number into the appropriate PDO Word Pointer
parameter. The set-up for monitored values would be as at
Table A-2.
A.4.3 Example for Transmitted/monitored Data

Table A-2 Monitor PDO 1 Parameter Set-up
P62.00 4 Transmit at 10 ms intervals
P62.01 1.010 COB-ID of 394.
P62.02 11.30 PDO 1 Word 1 – Status Flags 0 to 15
P62.03 0 Unity
P62.04 9.01 PDO 1 Word 2 – P9.01 Speed feedback
P62.05 1 Speed (%)
P62.06 9.04 PDO 1 Word 3 – P9.04 Torque demand
P62.07 3 Torque (%)
P62.08 0.00 PDO 1 Word 4 – not required
A.4.4 Received Control bits

Control bits are bits in the drive that cannot be written to directly,
but may be accessed indirectly by placing the received control
word into a CAN control word container. Control bits perform
such tasks as starting and stopping the drive. This example
requires access to 2 control bits, the start flag and the stop flag.
The first stage to setting up a control bit is to produce a CAN
control word, which is similar to a CAN reference. CAN control
words are held in P61.30 and P61.32. CAN Control word 1 (from
PDO Word 1) is used in this example. The start and stop bits
are transferred using CAN control word 1. The CAN Control
Word is set up at Table A-3.
A.4.5 Received References

References are parameters within the drive that cannot be
written to directly, speed reference is one such example. In
order to be able to write to the speed reference, it is necessary

to write the CANopen data to a CAN reference and then select

this reference to be the speed reference.
The first stage to setting up a reference parameter is to produce a

CAN reference. CAN references are held in P61.14 to P61.28.
Even numbers contain the reference, odd numbers contain the
fallback for the reference. In this example we will use CAN
reference 1, see Table A-3. The received data is allocated to
the second PDO using parameters P62.10 to P62.19.
In this example we will use Reference Pointer 1 to transfer the

Speed Reference.
Having configured the P62.12 pointer to transfer data to a CAN

reference "container", the user has the option of declaring a
‘fallback’ value for that reference – refer to A.12.
A.4.6 Received Simple Parameters

This example also has a simple reference parameter, P5.17,
minimum speed. P61.14 is configured at Table A-3.
To write to parameters within the drive, enter the parameter
number into the appropriate PDO Word Pointer parameter.
Table A-3 Received Parameter Set-up

P62.10 3 Rx at 10ms rate
P62.11 2.010 COB-ID of 522
P62.12 61.30 PDO 2 Word 1 CAN Control Word 1
P62.13 0 Unity scaling
P62.14 61.14 PDO 2 Word 2 CAN reference 1
P62.15 1 Speed (%)
P62.16 5.17 PDO 2 Word 3 - P5.17 minimum speed
P62.17 2 Speed (rpm)
P62.18 0.00 PDO 2 Word 4 – Not used
This will allow the CANopen link to write directly to the minimum
speed parameter.
Note: The minimum speed parameter P5.17 and its units are in
rpm, not percentage. The drive is connected to a 1500 rpm
motor.

Because the minimum speed is unlikely to change once

configured, in a slightly more complex design, P5.17 could be
allocated to its own PDO. This PDO would then only need to be
transmitted on start-up by the master. Alternatively, P5.17 could
be written to using the SDO packet.
A.5 Scaling Parameters

The ‘container’ for the received reference can only have a value
of ±100.00%, which internally is represented as ±10000. We
have already selected the speed reference scaler. All that is
required is to ensure that the scaler settings in Menu 60 are
correct – see Table A-4.
In this example 100% network speed and torque are represented

by a value of 16383. The network representation of rpm is in 0.1
rpm units.
Table A-4 Scaler Parameter Set-up

P60.00 10000 Drive’s speed (%) equivalent
P60.01 16383 Network’s speed (%) equivalent
P60.02 1500 Drive’s speed (rpm) equivalent
P60.03 15000 Network’s speed (rpm) equivalent
P60.04 10000 Drive’s Torque (%) equivalent
P60.05 16383 Network’s Torque (%) equivalent
A.6 Using the Received Parameters

Once the CAN reference has been configured it is necessary to
configure the speed reference to come from CAN reference 1.
Each of the drive references has a parameter or parameters that
set-up where the source of that reference is. For the speed
references these parameter are P5.01 to P5.05. These
parameters need to be configured to source the reference from
the ‘Pointer menu’, Menu 42. Each of the pointers in Menu 42 is
dedicated to one of the drive references. The speed reference
has pointers 1 and 2 dedicated to it. We will use pointer 1 -
see Table A-5.

Table A-5 Speed Reference Set-up

P5.01 21 Speed reference source 1 - use pointer 1
P5.02 0 Speed reference source 2 - not required
P5.05 0 Speed backup source – not required
Having configured the speed reference source to be Menu 42

pointer 1, the final stage is to configure pointer 1 to use CAN 1,
set up previously. Pointer 1 is configured in P42.00 and P42.01
as shown at Table A-6.
Table A-6 Speed Reference Pointer 1 Set-up

P42.00 61.14 Pointer 1 source – P61.14 CAN reference 1
P42.01 100.00 Pointer 1 scale - 100.00%
The data transferred in the CAN Reference 1 word will now be

used as the speed reference. Note that Menu 42 allows the use
of a scaling function to scale the incoming data before it is
written to the relevant reference. This scale will also apply to
the fallback value if it used.
Once the CAN control word has been configured it is necessary

to configure the start and stop control bits source to come from
CAN control word 1. Each of the drive control bits has a
parameter that sets up where the source of that control bit is.
Referring to Table A-7, for the start bit this parameter is P33.01
for the stop bit this parameter is P33.00. These parameters
need to be configured to source their values from the CAN
control word. CAN control word 1 contains values 7.000 to 7.015
which are CAN control word 1 bits 0 to 15, values 7.016 to 7.031
are CAN control word 2 bits 0 to 15.

Table A-7 Control Flag Source Set-up

P33.00 7.000control
Stop flag source – 7.000 CAN
control word 1, bit 0
P33.01 7.001
control
Startflag source - 7.001 CAN control word
1, bit 1
P34.16 1 Pass Start/Stop control to the control flags
A.7 Unused PDOs

When P61.42 was momentarily enabled, the first eight PDOs
were pre-configured. As this example only uses the first two
PDOs, the next six need to be made unused – see Table A-8.
Table A-8 Unused PDOs

P62.20 0 PDO 3 Unused
P62.21 0.000 Invalid COB-ID
A.8 Activating the Configuration

The Fieldbus parameters now contain a basic configuration. To
configure the drive, P61.03 needs to be momentarily enabled.
A.9 Data for Master Device Configuration

The CANopen NMT master device producing the data for this
drive should now be configured. The data required to get the
drive running is shown at Table A-9.

Table A-9 CANopen Master's Transmit PDO Data Allocation

Word Value Meaning
0 XXXXh Contains the run/stop bits
1 8192 Set the speed reference to 50%
2 150 Set the drive minimum speed to 150 rpm
3 0 Not used
The data produced by the drive is listed at Table A-10.
Table A-10 CANopen Master's Received PDO Data Allocation

Word Units Meaning
0 Binary
flags Contains the drive status bits
1 0.0061% Speed feedback.
2 0.0061% Torque demand.
3 0 Not used
Note: The CANopen master represents 100% by a value of

16383.
A.10 Using the Data Spy

Having parameterised a basic configuration, the user may wish
to know what data is actually being transferred over the
CANopen network. The spy module in Menu 89 can be used for
this.
To view PDO 1, enter 62.00 in P89.00. Entering 62.10 in P89.00

will view PDO 2. The meaning of P89.01 to P89.05 is shown at
Table A-11.
In this example PDO 1 Word 4 is not received from the master,

therefore the value is displayed as ‘uncollated’.
The data will be displayed un-scaled and in decimal. The drive

may limit data before writing it into a parameter if it exceeds that
parameter’s limits - see 4.17.

Table A-11 Menu 89

Parameter Description Value Meaning
P89.00 Spy Config. 62.00 Spy PDO 1
P89.01 Spy Data 1 394 PDO 1 COB-ID
P89.02 Spy Data 2 xxxx PDO 1 Word 1
P89.05 Spy Data 5 Uncollated PDO 1 Word 4
P89.06 Spy Data 6 Uncollated Unused
: : Unused
P89.32 Uncollated Unused
A.11 Check For Data Errors

Once the drive has been configured the user should check that
no data errors are occurring. Data errors can occur when the
CANopen module attempts to write the data from the PDO into
drive parameters. This may be because the parameter is not
able to accept data in this manner, or because the data itself is
outside accepted limits. For the receive and transmit PDO
packets there is an error code of the last error that occurred
(P61.09) and the number that have occurred since the last CAN
configuration attempt (P61.10). The list of data error codes and
their meaning is given at Table 4.19, section 4.15.10. An
example for the source data is given at Table A-12.
Table A-12 Data Error Example

P61.09 200h Read access from a parameter was
denied
P61.10 20 20 errors have occurred since the last
CAN link configuration.
In this example read access to a parameter was denied, possibly

because that parameter does not exist. This implies that one of
the parameters set for source is incorrect and does not actually
exist.

A.12 Fallback Values

The example declares a CAN reference and a CAN control word,
both of which have the option of a fallback value. A fallback
value is a value that will be used instead of the CAN value if the
CAN link becomes unhealthy. As a simple example, if the CAN
link is lost then the user may want to force the speed reference
to zero. To use this feature the CAN link first needs to be
configured to select fallback value on a loss of the CAN link by
setting parameter P61.13 to a 1.
If P61.13’s value is set to 0 then on a CAN loss the reference

value will be frozen. This means that the last valid value
received over the link will be used.
Note: ALL CAN reference/control values are affected by the

freeze/fallback simultaneously.
The fallback values can now be entered for the relevant CAN
reference, for the speed reference we will use a fallback value of
0. If communication is lost then we would like the drive to stop,
this means that the start control flag should be set to 0, and the
stop bit should be set to 0. This means the fallback value should
be 0000h.
These settings are summarised at Table A-13.
Table A-13 Fallback Value Example

P61.13 1 On CAN loss use the fallback not the freeze
value
P61.15 0 CAN reference 1 (speed reference) fallback
value
P61.31 0000h CAN control word 1 (start/stop flags)
fallback value.
Bit 0 - Not set, stop flag active
Bit 1 - Not set, start flag inactive
Bits 2 - 15 – not required

A.13 Warning on Loss of CAN Link

This function is carried out by P61.12 (described at 4.15.13).
During the commissioning process P61.12 is set to 1 by default,
and the drive generates a Warning. When commissioning has
been successfully completed, P61.12 may be set to one of the
following alternatives:
0 = Ignore loss
1 = Warn of loss
2 = Trip the drive


ALSPA MV3000e CANopen Appendix B – Configuration Tables
Appendix B - Configuration Tables
B.1 Introduction
This appendix includes a set of tables (Table B-1 to Table B-19)
which enable a CANopen network to be configured. Each table
includes an example of a typical configuration shown in the
shaded rows of the table.
It is suggested that a user copies all the pages from this

appendix and uses them to configure the required network.
It is also recommended that the completed tables are copied and

retained safely as records of the network configuration.
Table B-1 CAN References

No. Param. Mapped Fallback Description
From Value
Example
1 P61.14 62.14 0 PDO 2 Word 2 Speed ref.
1 P61.14
2 P61.16 3
P61.18 4
P61.20 5
P61.22 6
P61.24 7
P61.26 8
P61.28
(10/06) Technical Manual T2013EN Page B-1

Appendix B – Configuration Tables ALSPA MV3000e CANopen
Table B-2 CAN Control Words

No. Param. Mapped Fallback Description
From Value
Example
1 P61.30 62.12 0 PDO 2 Word 1
1 P61.30
2 P61.32
Table B-3 Control Word 1, P61.30

Bit ControlFlag Fallback Description
Number Value
Example
0 7.000 0 Bit 0 mapped to Stop flag
0 7.000
1 7.001 2 7.002 3 7.003 4
7.004 5 7.005 6 7.006 7
7.0078 7.0089 7.009
10 7.010 11 7.011 12 7.012

13 7.01314 7.01415 7.015
Page B-2 Technical Manual T2013EN (10/06)

Table B-4 Control Word 2, P61.32

Bit ControlFlag Fallback Description
Number Value
Example
0 7.016 0 Bit 0 mapped to Stop flag
0 7.016
1 7.017
2 7.018
3 7.019
4 7.020
5 7.021
6 7.022
7 7.023
8 7.024
9 7.025
10 7.026
11 7.027
12 7.028
13 7.029
14 7.030
15 7.031
Table B-5 CANopen PDO 1 Allocation

Dirn Rate Channel.ID COB-ID
No. Param. Destination Scale Type Description

Parameter
1 P62.02 2
P62.04 3
P62.06 4
P62.08

Table B-6 Example of CANopen PDO 1 Allocation
Example
Dirn Rate Channel.ID COB-ID
RX 10ms 1.010 894
Parameter
1 P62.02 61.30 Unity Control word
2 P62.04 61.14 Speed(%) Speed Reference
3 P62.06 5.17 Speed(rpm) Min. speed fwd
4 P62.08 0.00 Unity Unused

n
Dir Rate Channel.ID COB-ID

Parameter
1 P62.12 2
P62.14 3
P62.16 4
P62.18

n

Parameter
1 P62.22 2
P62.24 3
P62.26 4
P62.28


n

Parameter
1 P62.32 2
P62.34 3
P62.36 4
P62.38

n

Parameter
1 P62.42 2
P62.44 3
P62.46 4
P62.48

n

Parameter
1 P62.52 2
P62.54 3
P62.56 4
P62.58


n

Parameter
1 P62.62 2
P62.64 3
P62.66 4
P62.68

n

Parameter
1 P62.72 2
P62.74 3
P62.76 4
P62.78

n

Parameter
1 P62.82 2
P62.84 3
P62.86 4
P62.88


n

Parameter
1 P62.92 2
P62.94 3
P62.96 4
P62.98
Table B-16 Scaler Allocation Menu 60

No. Scaler Drive External Description
Scale Scale
Example
1 Speed(%) 10000 16383
1 Speed(%)
2 Speed(rpm)
3 Torque(%)
4 Torque(Nm)
5 Frequency
6 Percent
7 Speed Ramp Rate
8 Torque Slew Rate
9 Current
10 Volts
11 Resistance 12
Inductance 13
Scaler 1
14 Scaler 2
15 Scaler 3

Table B-17 Programmable Status Word 0

Bit Param. Control Description
No. Flag No.
Example
0 P41.00 2.001 Bit 0 mapped to Stopped flag
0 P41.00
1 P41.01 2
P41.02 3
P41.03 4
P41.04 5
P41.05 6
P41.06 7
P41.07 8
P41.08 9
P41.09
10 P41.10 11
P41.11 12
P41.12 13
P41.13 14
P41.14 15
P41.15

Table B-18 Programmable Status Word 1

Bit Param. Control Description
No. Flag No.
Example
0 P41.16 2.001 Bit 0 mapped to Stopped flag
0 P41.16
1 P41.17 2
P41.18 3
P41.19 4
P41.20 5
P41.21 6
P41.22 7
P41.23 8
P41.24 9
P41.25
10 P41.26 11
P41.27 12
P41.28 13
P41.29 14
P41.30 15
P41.31

Table B-19 Menu 42 - Reference Pointers

No. Param. Points Scale Function
To
Param.
Example
1 P42.00 61.14 10000 Speed Reference
1 P42.00 Speed Reference
2 P42.02 Speed Reference
3 P42.04 Reference Sequencer
4 P42.06 PID Set-point
5 P42.08 PID Feedback
6 P42.10 Trim Reference
7 P42.12 Speed Trim Reference
8 P42.14 Torque Reference
9 P42.16 Torque Limits
10 P42.18 Torque Limits
11 P42.20 Temperature Compensation Scale
12 P42.22 Flux Limit
13 P42.24 Current Limit
14 P42.26 Torque/Magnet. Current
15 P42.28 Torque/Magnet. Current
16 P42.30 Position Reference
17 P42.32 Position Reference
18 P42.34 Tacho Feedback
19 P42.36 Variable Voltage Boost
20 P42.38 Reference Shaper
21 P42.40 SFE Vdc Reference
22 P42.42 SFE Active Current Release
23 P42.44 SFE Active Current Negative Limit
24 P42.46 SFE Active Current Positive Limit
25 P42.48 SFE Reactive Current Reference
26 P42.50 SFE Reactive Current Positive Limit
27 P42.52 SFE Reactive Current Negative Limit
28 P42.54 Dynamic Braking

ALSPA MV3000e CANopen Appendix C – Example of Bridle Drive
Appendix C – Example of Simple Communications on a

Bridle
ALSPA MV3000 ALSPA MV3000

Bridle Drive 1 Bridle Drive 3
ALSPA MV3000
ALSPA MV3000
Bridle Drive 2
Bridle Drive 4
Figure C-1 Example of Simple Communications on a Bridle Using CANopen
In order to implement the control a master speed reference is

connected to Bridle Drive 3, together with start and stop signals.
The torque demand signal from Bridle Drive 3's speed control is
to be passed to the other 3 bridle drives along with the start and
stop signals.
In case of a break in the product Bridle Drives 1,2 and 4 are also
fed with the master reference. Their speed control loops are fitted
with deadbands such that under normal conditions they are
under torque control only.
Bridle Drives 1, 2 and 4 return 'Drive Ready' and 'Ready for

reference' signals to Bridle Drive 1.
The 'Ready for Reference' signal is generated from line

contactor closed, etc.
(10/06) Technical Manual T2013EN Page C-1

Appendix C – Example of Bridle Drive ALSPA MV3000e CANopen
The following example shows how the ALSPA MV3000e

CANopen Fieldbus Facility can be used to pass the required
parameters between the various drives.
This example is limited to setting the communications between

the drives only. The rest of the parameter settings needed to
implement the control scheme are not considered.
Rx on PDO 1 - Speed, Torque, Tx on PDO1 - Speed, Torque, Start/Stop

Start/Stop Rx on PDO 2 - Status from Rx on PDO 2 - Status - Bridle Drives 1,2 & 4
Drives 2 & 4 Tx on PDO 2 - Status Drives 1, 2 & 4
ALSPA MV3000
ALSPA MV3000 Bridle Drive 3
Bridle Drive 1
ALSPA MV3000 ALSPA MV3000

Bridle Drive 2 Bridle Drive 4
Rx on PDO 1 - Speed, Torque, Start/Stop Rx on PDO 1 - Speed, Torque,

Rx on PDO 2 - Drive Status from Bridle Drive Start/Stop Tx on PDO 2 - Drive Status
4 Tx on PDO 2 - Status Drives 2 & 4
Figure C-2 Required Data Flow Between ALSPA MV3000e AC Drives
Page C-2 Technical Manual T2013EN (10/06)

Using either
ALSPA Drive Data Manager
or
ALSPA Drive Coach
For Bridle Drive 1 For Bridle Drive 2 For Bridle Drive 4
Set P61.00 'Protocol' = 1 = CANopen

Set P61.01 'Baud Rate' = 2 = 500 kBaud
Set P61.02 'Node ID' =1


For Bridle Drive 3
Sets the protocol,

Set P61.00 'Protocol' = 1 = CANopen baud rate and node
Set P61.01 'Baud Rate' = 2 = 500 kBaud address for each
Set P61.02 'Node ID' =3 drive on the
CANopen Fieldbus.
Set P61.35 'CANopen NMT Master'= 1

Set P61.36 'CANopen Synch Master'=1 Sets Bridle Drive 3 to
Set P61.37 'Synch Master Period' = 10 have the 'mastership'
of the link in that it
issues a 'Start All
Nodes' command
Set P62.00 'PDO 1 Mode' = 6 = Tx (5ms) every 10 seconds
Set P62.01 'PDO Channel.ID' = 1.003 and a Synch signal
Set P62.02 'Data Word 1 Pointer' = P9.00 every 10ms.
Set P62.03 'Scale on Word 1' = 1 = Speed %
Set P62.04 'Data Word 2 Pointer' = P9.04
Set P62.05 'Scale on Word 2' = 3 = Torque % PDO 1 in Bridle Drive
Set P62.06 'Data Word 3 Pointer' = P11.30 3 will be transmitted
Set P62.07 'Scale on Word 3' = 0 = Unity every 5ms. It
contains the speed
Set P61.03 'Config CAN Port' =1 and torque
references in %
together with
'Running' and
NO 'Stopped' status flags
Is P61.06 = 7
'Operational'?
CONTINUE
YES
Figure C-3 Commissioning Sequence for Bridle Drives – Page 2

Continued
For Bridle Drive 1 For Bridle Drive 2 For Bridle Drive 4
PDO 1 will be
Set P62.00 'PDO 1 Mode' = 5 = Rx (5ms) received every 5ms,
Set P62.01 'PDO Channel.ID' = -1.003 but only used on
Set P62.02 'Data Word 1 Pointer' = P61.14 'CAN Ref receipt of the 'Sync'
1' Set P62.03 'Scale on Word 1' = 1 = Speed % message. The Speed
Set P62.04 'Data Word 2 Pointer' = P61.16 and Torque
Set P62.05 'Scale on Word 2' = 3 = Torque % references are placed
Set P62.06 'Data Word 3 Pointer' = P61.31 'CAN Control Word 1' in CAN Ref 1 & 2 and
Set P62.07 'Scale on Word 3' = 0 = Unity the 'Running' and
'Stopped' status flags
Set P61.03 'Config CAN Port' = 1 in CAN Control Word
1.
NO Is the data being

received correctly? Examine the appropriate
parameters.
Use Menu 89 - 'Data Spy'
YES
For Bridle Drive 4
Assemble
Set P62.10 'PDO 2 Mode' = 4 = Tx (10ms)
appropriate drive
Set P62.11 'PDO Channel.ID' = 1.004
status flags into
Set P62.12 'Data Word 1 Pointer' = P41.32 'Status Word 0 P41.32 and pass
Output' Set P62.13 'Scale on Word 1'= 0= Unity onto the next drive.
Set P61.03 'Config CAN Port' = 1
YES Are there any

Warnings?
NO
Continue

Continued
For Bridle Drive 2
Use the status flags

from Bridle Drive 4
as necessary.
Set P62.22 'Data Word 1 Pointer' = P41.32 'Status Word 0 Output'
Assemble
Set P62.23 'Scale on Word 1' = 0= Unity
appropriate drive
status flags into
Set P62.10 'PDO 2 Mode' = 3 = Rx (10ms) P41.32 including
Set P62.11 'PDO Channel.ID' = 1.004 those from Bridle
Set P62.12 'Data Word 3 Pointer' = P61.31 'CAN Control Word 1' Drive 4 and pass
Set P62.13 'Scale on Word 3' = 0 = Unity onto the next drive.
YES Are there any

Warnings?
NO
For Bridle Drive 1
Use the status flags

from Bridle Drive 2
as necessary.
Set P62.22 'Data Word 1 Pointer' = P41.32 'Status Word 0 Output'
Assemble
Set P62.23 'Scale on Word 1' = 0= Unity
appropriate drive
status flags into
Set P62.10 'PDO 2 Mode' = 3 = Rx (10ms) P41.32 including
Set P62.11 'PDO Channel.ID' = 1.002 those from Bridle
Set P62.12 'Data Word 3 Pointer' = P61.31 'CAN Control Word 1' Drives 2 & 4, pass
Set P62.13 'Scale on Word 3' = 0 = Unity onto the next drive.
YES Are there any

Warnings?
NO
Continue

Continued
For Bridle Drive 3
Set P62.10 'PDO 2 Mode' = 3 = Rx (10ms) Use the status flags

Set P62.11 'PDO Channel.ID' = 1.001 from Bridle Drives 1,
Set P62.12 'Data Word 3 Pointer' = P61.31 'CAN Control Word 1' 2 & 4 as necessary
Set P62.13 'Scale on Word 3' = 0 = Unity to take appropriate
action.
NO
YES Are there any
Warnings?
NO
Do you
NO require
CANopen to be automatically
configured on power-up?
YES
Set P61.04 in
each drive
End of Communications
Settings

ALSPA MV3000e CANopen Appendix D
Appendix D – Using Access Commands Example

The WAGO CANopen Buscoupler provides the standard CANopen ‘store’
save parameters object 0x1010, and ‘return to defaults’ restore object
0x1011. Using these objects a new WAGO 750-337 buscoupler (or any
CANopen device that supports this save-restore mechanism) can be pre-
configured prior to use.
The restore operation is necessary because the PDO and EMCY message
COB-ID numbers are frozen at the time of the save operation and changes in
Node-ID through the use of the DIL switch only result in a change to the SDO
COB-ID. Returning to defaults makes the unit derive all COB-Ids from the
current DIL switch setting.
To avoid having to rely on finding a PC or other equipment capable of doing

the per-configuration the ALSPA MV3000e provides a mechanism, via CAN
Port 1, to pre-configure the node rather than doing the configuration each
time the node powers up.
D.1 Pre-Configuration Procedure

The following procedure will configure a WAGO CANopen Buscoupler to
transmit its connected analogue inputs on input1 at 5ms update intervals (if
the analogue values are changing)
1. Set the WAGO CANopen Buscoupler for the Baud rate required and
Node-ID 1 and connect it to the drive’s CAN port 1 with no other devices
connected.
2. Using Menu 61 set the drive’s CAN port 1 for CANopen protocol, the
required Baud rate and a different Node-ID from that of the WAGO
CANopen Buscoupler.
3. Set P61.35 = 0
Set P61.03 = 1 (this will self reset to zero when the drive’s CAN port is
configured)
4. Power the WAGO CANopen Buscoupler.

Set P61.51 = WAGO CANopen Buscoupler’s Node ID.
5. Set parameters as follows:
P61.52 P61.53 P61.56 P61.57 P61.58 Comment 1011h

0001h 4 6C6Fh 6164h Temporary return to defaults
(10/06) Technical Manual T2013EN Page D-1

Appendix D ALSPA MV3000e CANopen
6. Set P61.54 = 4 –this issues a command to write the above data to the
WAGO CANopen Buscoupler.
Check for success in P61.55
P61.52 P61.53 P61.56 P61.57 P61.58 Comment 6423h

0000h 1 0100h Global analogue enable
8. Set P61.54 = 4; Check for success in P61.55
P61.52 P61.53 P61.56 P61.57 P61.58 Comment 1801h 0001h 4

st 19
8102h 0080h Inhibit1 analogues PDO
P61.52 P61.53 P61.56 P61.57 P61.58 Comment 1801h

0003h 2 3200h Set an inhibit time of 5000µS
P61.52 P61.53 P61.56 P61.57 P61.58 Comment 1801h 0001h 4

8102h19 0000h Enable PDO
P61.52 P61.53 P61.56 P61.57 P61.58 Comment 1010h

0001h 4 7361h 7665h Store new settings
17. Set P61.51 = 0; this releases the CAN network and remember to
reset P61.35.
19
This value will depend on the Node-ID. It is advised to read this number prior to
modification.
Page D-2 Technical Manual T2013EN (10/06)

ALSPA MV3000e CANopen Terminology
Terminology
The following definitions, acronyms and terms are used within

this manual:
Acronyms and Definitions

CAN Controller Area Network.
CANopen A networking system based on the CAN serial bus; the

network protocol defined by CiA.
CDC Common Drive Controller the control board for the

ALSPA MV3000e range of drives.
CFSRC A Control Flag Source
CiA CAN in Automation (an international users and

manufacturers group).
COB A Communication Object - a unit of transportation in a

CAN Network; data must be sent across a Network
inside a COB.
COB-ID A COB identifier. It identifies a COB uniquely in a

Network.
CRC Cyclic Redundancy Check.
CW Control Word
DBT A Distributor within the CANopen Distribution Protocol

services.
EDS Electronic Data Sheet. The EDS file is used to

provide a profile of the slave device e.g. the ALSPA
MV3000e Drive, to the CANopen master. The file is
supplied in a PC readable format.
FS Full scale.
GND Ground.
(10/06) Technical Manual T2013EN Terminology 1

Terminolgy ALSPA MV3000e CANopen
h Used in this manual to indicate a number is

hexadecimal.
NMT Network Management.
PIB Power Interface Board, the control board which

interfaces the CDC to the output switching devices.
PDO Process Data Object, the data telegram defined by

CANopen to transfer data between CANopen nodes.
SDO Service Data Object, a data telegram used to transfer

configuration data between CANopen master and
slave nodes.
Src Source.
VSD Variable Speed Drive.
Terms and Definitions
Combined Node an Extended I/O Node which has more

than one type of I/O fitted e.g.
digital/analogue and/or input/output on
the same node.
Consumer a device that receives data sent by a

producing device.
Emergency Object an optional communication object of a

stored event type with the notifying
device acting as a server of the event. If
a device supports the emergency object it
has to support at least two error codes
00xx and 10xx.
Master Node a node that, as a minimum, can send a

‘Start’ and ‘Stop’ command to other
nodes.
Terminology 2 Technical Manual T2013EN (10/06)

ALSPA MV3000e CANopen Terminology
Node in a communications network it is a

device connected to the network capable
of communicating with other network
devices. In a more generic sense, it is a
connection point on a bus or a network.
Node Guard Object an optional object that guards a node

against communication errors which may
occur between the node and a master
device.
Peer-to-peer devices at the same level that can talk to

each other.
Producer a device that is a source and transmitter

of data on a network.
Producer/consumer
Network a network that is a combination of
producers and consumers and in which
there is no control of data transfer across
the network, all devices having an equal
or hierarchical access to the network,
other than mechanisms inherently in-built
into the network.
Slave Node a node that awaits ‘Start’ and ‘Stop’

instructions from a Master Node.
(10/06) Technical Manual T2013EN Terminology 3

Terminolgy ALSPA MV3000e CANopen
Terminology 4 Technical Manual T2013EN (10/06)

ALSPA MV3000e CANopen Subject Index
Subject Index
Introduction
This subject index applies to the English Edition of the T2013 Technical
Manual for the ALSPA MV3000e CANopen Fieldbus Facility for ALSPA
MV3000e Drives. A separate Parameter Index is also included in the manual
with an alphabetic listing of all the parameters. The subject index does not
include parameters. Terminology, which is listed separately in this manual, is
referenced in the subject index.
The indexes are prepared with word-by-word alphabetisation and are

presented with page numbers for subject location. Page numbers for
appendices are prefixed with the appendix letter e.g. A-1 in the index is
Appendix A page 1. Page numbers for the Terminology and Block Diagrams
are prefixed with letter(s) and no hyphen e.g. T1 in the index is Terminology
page 1 and BD1 for Block Diagram page 1.
strain relief............................3-1, 3-2

CANopen
A cable.......................................vii, 3-3
configuration...............vii, ix, 1-2, 5-2
access authority............................4-15 connectors..............................vii, 3-2
access command ........vi, ix, x, 4-39, 1 device cluster ..............1-1, 4-1, 4-16
acronyms ......................................12-1 I/O Profile .........................4-44, 4-45
ALSPA Drive Coach.........1-2, 5-1, 5-2 introduction.............................vii, 1-1
Master ..................................1-1, 4-1
objects supported...................vii, 4-6
B profile for variable speed drives...4-6
protocol ............ vii, 1-1, 2-1, 2-2, 4-1
bandwidth ............... 2-2, 4-4, 4-5, 4-46 specification ...........................vii, 2-1
basic settings caution
for CANopen connection..... viii, 4-17 when transferring values .............2-3
baud rate CFSRC..........................................12-1
maximum bus length................... 2-2 check
supported...............................vii, 2-1 for data errors................................. 9
transfer rate ................................ 2-2 CiA......................................... 2-1,
bus cable 12-1
length.....................................vii, 2-1 COB-ID..........................................12-1 alloc
termination.............................vii, 3-3 dynamic...................................4-5
termination resistor ................vii, 3-3 inhibit time..........................vii, 4-2
standard ..................................4-2
static........................................4-4 data
C for calculation ....................4-44 type
of I/O device for access.....4-45 usage
cable(s) calculation.......................4-19
segregation................................. 3-1 Combined Node............................12-2
specification for CANopen .......... 3-3 commissioning ...........................ix, 5-1
(10/06) Technical Manual T2013EN Subject Index 1

Subject Index ALSPA MV3000e CANopen
CANopen configuration vii, ix, 1-2, 5- E

2
mechanical checks ................. ix, 5-1 earthing
sequence for CANopen............................... 3-3
Extended I/O............................5-3 EDS File .........................1-2, 6-1, 12-1
tools and equipment ............... ix, 5-1 electrical noise.................................3-2
communication object electromagnetic
COB-ID allocation........................4-3
compatibility................................ 3-3
Communication Profile Objects.vii, 4-6
interference.......................... 3-1, 5-1
Communications Profile DS 301 ....4-1
Emergency Object ........................12-2
configuration example .......................vi
Extended I/O
configuration examples............. vi, ix, 1 menu....................... 4-15, 4-17, 4-18
configuration tables............................ with multiple drives.................... 4-16
1 connection diagrams
......................3-3 connection(s)
at MV3000 Drive..........................3-1 F
mechanical checks ......................5-1
control bits..........................................
Fallback values ................................10
3 control flag source .............4-8, 7,
12-1 customer
Fieldbus...........................................2-
support............................1-2 Cyclic Redundancy Check ....2-3, 12-1
1 Facility.............................i, 4-15, 2,
5 Network.......................................
D 4-1 firmware revisions ...........................7-1 FS 4
data G
check for errors ..............................9
for master device configuration.......7
GND ...................................... 3-2, 12-1
refresh rate..................................2-2
spy.............................................4-47
transfer rate.................................2-3 H
types...................................... vii, 4-6
update rate ................................4-17
h 4-28, 12-2
DBT........................................4-5,
12-1
definitions......................................12-1
I
Device Profile DS 401
....................2-5
diagnostics......................................8-1 installation........................................3-1
CAN status ..................................8-2 introduction................................ vii, 1-1
CAN trip fault code ......................8-1
CAN warning fault code...............8-1
faults............................................8-1
L
diagram(s)..................................vi, x,
5 disposal instructions loading problems................... 2-3, 4-41
.......................2-5 double word items...........................2-4 Drive Data Manager™.............5-1, 5-2
Subject Index 2 Technical Manual T2013EN0005 (10/06)

ALSPA MV3000e CANopen Subject Index
M pointers ..............................4-5, 4-18

references – for drive ..................... 3
maintenance................................... 7-1 scaling............................................ 5
firmware revisions....................... 7-1 simple............................................. 3
general guidance ........................ 7-1 specifying I/O node IDs .............4-19
Master Node........................12-2, 12-3 type ...........................................4-14
menu(s) PDO
59 – Extended I/O.viii, ix, 4-17, 4-18, allocation...................................4-42
4-49 availability....................................4-4
60 – Scaling. viii, ix, 4-25, 4-26, 4-51 configuration..............................4-16
61 – CDC CAN Port...viii, ix, 4-26, 4- data length ................................4-47
52 effect of adding Extended I/O....4-43
62 – CDC CANopen.....ix, 4-41, 4-56 mapped .......................................4-5
89 – Data Spy.................. 4-48, 4-57 mapping .............................4-5, 4-47
maximum for CANopen...............4-5
packet.........4-17, 4-19, 4-41, 4-42, 9
N transmission interval..................4-47
peer-to-peer .......................... 4-2, 12-3
network PIB.................................................12-2
cabling .......................... 3-4, 3-5, 3-6 Process Data Object(s).vii, 2-2, 2-3, 4-
management......4-3, 4-5, 4-27, 12-2 5, 12-2
producer/consumer network.........12-3
Node Guard Object ......................12-3 profile(s)
node(s) Communications .................. 1-1, 4-1
addresses ................................... 4-2
publication(s)
addressing .................................. 4-2
Converteam associated with .......1-2
specifying I/O............................ 4-19
start....4-3, 4-4, 4-5, 4-29, 4-30, 4-34
R
O
run on power up ............................4-28
object(s)
description .................................. 4-8 S
dictionary ...................... 4-5, 4-6, 4-7
manufacturer specific.............vii, 4-7
screens............................................3-3
Service Data Object.............. 2-2, 12-2
P slave device ... 1-1, 1-2, 4-1, 4-40, 6-1,
12-1
Slave Node....................................12-3
parameter(s)
spares..............................................8-2
access authority........................ 4-15
specification............................... vii, 2-1
adding for drive...............................2
Src .....................4-23, 4-49, 4-50,
attributes.......................... 4-14, 4-48
12-2 standards
data types .....................vii, 4-6, 4-26 CANopen – DS 301.............. 2-5, 4-1
flag word ................................... 4-13 CANopen – DS 401.............. .......2-5
for mode and channel ID........... 4-36 EMC
list ............................................. 4-15 EN 61800-3.............................2-4
listing.....................................ix, 4-48
(10/06) Technical Manual T2013EN Subject Index 3

Subject Index ALSPA MV3000e CANopen
IEC 61800-3 ............................2-4

RS 232 cable.............................4-15
safety
EN 50178 ................................2-4
status word..............................4-6, 2, 8
sub-index elements
........................4-8 sub-indexes – 0h
to 8h ...................4-8 SYNC object .......2-3, 4-34, 4-35, 4-45
termination panel ............................3-1

termination(s)
for bus cable.......................... vii, 3-3
resistors.......................................3-3
terminology .......................... vi, 12-1,
5
terms.............................................12-2
training ............................................1-2 trip
fault code.....................................8-1
value(s)
changing during transmission –
problems with ..........................2-4
VSD...............................................12-2
warning(s)
avoidance of automatic configuring
at power-up............................4-28
avoidance of duplicated mapping ..4-
32
avoidance of same node ID .......4-28
duplicate CAN ID......... ................8-1
energy discharge......... .........3-1, 5-1
fault codes.............. .....................8-1
in drive tables ......... .....................8-1
loss of CAN link ........ ....................11
multiple circuits........ .............3-1, 5-1
PDO & IO IDs clashing.... ............8-1
wiring
external................. .......................3-1
Subject Index 4 Technical Manual T2013EN0005 (10/06)

ALSPA MV3000e CANopen Parameter Index
CAN Ref. 6 Fallback, 4-53

CAN Ref. 7, 4-53
Parameter Index CAN Ref. 7 Fallback, 4-53
CAN Ref. 8, 4-53
—A— CAN Ref. 8 Fallback, 4-53
Access Bytes, ix, 4-40, 4-55 CANopen Master Func, viii, 4-34, 4-53
Access Command, vi, ix, x, 4-39, 4-55, CANopen Sync Master, viii, 4-34, 4-53
1 CANopen Version, viii, 4-34, 4-53
Access Data, ix, 4-40, 4-55 Config CAN Port, viii, 4-28, 4-52
Access Data Length, ix, 4-40, 4-55 Config. on Power Up, viii, 4-28, 4-52
Access Result, ix, 4-40, 4-55
Analog I/P Node ID, 4-20, 4-49
Analog O/P Node ID, 4-20, 4-49 —D—
Data Word 4 Pointer, ix, 4-46

—B— Definition of PDOs 2 to 10, 4-56
Digital I/P Node ID, 4-19, 4-49
Bad CAN-ID Source, viii, 4-38, 4-54 Digital I/Ps 0..15, 4-20, 4-49
Baud Rate, viii, 4-27 Digital I/Ps 16..31, 4-21, 4-49
Bus Off Action, viii, 4-31, 4-52 Digital I/Ps 32..47, 4-21, 4-49
Bus off Count, viii, 4-39, 4-55 Digital I/Ps 48..63, 4-21, 4-49
Digital O/P Node ID, 4-20, 4-49
Drive Current, viii, 4-25, 4-51
—C— Drive Frequency, viii, 4-25, 4-51
Drive Inductance, viii, 4-25, 4-51
CAN Baud Rate, 4-52 Drive Percent, viii, 4-25, 4-51
CAN Comms. state, 4-52 Drive Ramp Rate, viii, 4-25, 4-51
CAN Control Word 1, viii, 4-33, 4-53 Drive Resistance, viii, 4-25, 4-51
CAN Control Word 1 Fallback, viii, 4- Drive Scalar 1, viii, 4-25, 4-51
33, 4-53 Drive Scalar 2, viii, 4-25, 4-51
CAN Control Word 2, viii, 4-33, 4-53 Drive Scalar 3, viii, 4-25, 4-51
CAN Control Word 2 Fallback, viii, 4- Drive Speed (%), viii, 4-25, 4-51
33, 4-53 Drive Speed (rpm), viii, 4-25, 4-51
CAN Error Count, viii, 4-31, 4-52 Drive Torque (%), viii, 4-25, 4-51
CAN Error Word, viii, 4-30, 4-52 Drive Torque (Nm), viii, 4-25, 4-51
CAN Loss Action, viii, 4-31, 4-53 Drive Torque Rate, viii, 4-25, 4-51
CAN Protocol, viii, 4-15, 4-26, 4-52 Drive Volts, viii, 4-25, 4-51
CAN Ref. 1, 4-32, 4-53, 6
CAN Ref. 2, 4-53 —E—
CAN Ref. 3, 4-53 Ext Analog I/P 1 binary, viii, 4-21, 4-49
CAN Ref. 3 Fallback, 4-53 Ext Analog I/P 1 Drive FS pu, viii, 4-21,
CAN Ref. 4, 4-53 4-49
CAN Ref. 4 Fallback, 4-53 Ext Analog I/P 1 Full Scale, viii, 4-21,
CAN Ref. 5, 4-53 4-49
CAN Ref. 5 Fallback, 4-53 Ext Analog I/P 1 Offset, viii, 4-21, 4-49
CAN Ref. 6, 4-53
(10/06) Technical Manual T2013EN Parameter Index 1

Parameter Index ALSPA MV3000e CANopen
Ext Analog I/P 1 pu Scaled, viii, 4-21, Ext Analog O/P 3 Src, viii, 4-23, 4-50
4-49 Ext Analog O/P 4 Drive FS pu, viii, 4-
Ext Analog I/P 2 binary, viii, 4-21, 4-49 23, 4-50
Ext Analog I/P 2 Drive FS pu, viii, 4-21, Ext Analog O/P 4 Full Scale, viii, 4-23,
4-49 4-50
Ext Analog I/P 2 Full Scale, viii, 4-21, Ext Analog O/P 4 Offset, viii, 4-23, 4-
4-49 50
Ext Analog I/P 2 Offset, viii, 4-21, 4-49 Ext Analog O/P 4 pu, viii, 4-23, 4-50
Ext Analog I/P 2 pu Scaled, viii, 4-21, Ext Analog O/P 4 Src, viii, 4-23, 4-50
4-49 Ext Dig O/P 0 Src, viii, 4-24, 4-50
Ext Analog I/P 3 binary, viii, 4-21, 4-49 Ext Dig O/P 0..15, viii, 4-24, 4-50
Ext Analog I/P 3 Drive FS pu, viii, 4-21, Ext Dig O/P 1 Src, viii, 4-24, 4-50
4-49 Ext Dig O/P 16..31, viii, 4-24, 4-50
Ext Analog I/P 3 Full Scale, viii, 4-21, Ext Dig O/P 31 Src, viii, 4-24, 4-50
4-49 Ext I/O Loss Action, viii, 4-25, 4-50
Ext Analog I/P 3 Offset, viii, 4-21, 4-49 Extern Current, viii, 4-25, 4-51
Ext Analog I/P 3 pu Scaled, viii, 4-21, Extern Frequency, viii, 4-25, 4-51
4-49 Extern Inductance, viii, 4-25, 4-51
Ext Analog I/P 4 binary, viii, 4-21, 4-49 Extern Percent, viii, 4-25, 4-51
Ext Analog I/P 4 Drive FS pu, viii, 4-21, Extern Ramp Rate, viii, 4-25, 4-51
4-49 Extern Resistance, viii, 4-25, 4-51
Ext Analog I/P 4 Full Scale, viii, 4-21, Extern Scalar 1, viii, 4-25, 4-51
4-49 Extern Scalar 2, viii, 4-25, 4-51
Ext Analog I/P 4 Offset, viii, 4-21, 4-49 Extern Scalar 3, viii, 4-25, 4-51
Ext Analog I/P 4 pu Scaled, viii, 4-21, Extern Speed (%), viii, 4-25, 4-51
4-49 Extern Speed (rpm), viii, 4-25, 4-51
Ext Analog O/P 1 Drive FS pu, viii, 4- Extern Torque (%), viii, 4-25, 4-51
23, 4-49 Extern Torque (Nm), viii, 4-25, 4-51
Ext Analog O/P 1 Full Scale, viii, 4-23, Extern Torque rate, viii, 4-25, 4-51
4-50 Extern Volts, viii, 4-25, 4-51
Ext Analog O/P 1 Offset, viii, 4-23, 4-
50
Ext Analog O/P 1 pu, viii, 4-23, 4-50 —F—
Ext Analog O/P 1 Src, viii, 4-23, 4-49
Ext Analog O/P 2 Drive FS pu, viii, 4- Freeze/Fallback on loss of CAN, viii, 4-
23, 4-50 32, 4-53
Ext Analog O/P 2 Full Scale, viii, 4-23,
4-50
Ext Analog O/P 2 Offset, viii, 4-23, 4- —L—
50
Ext Analog O/P 2 pu, viii, 4-23, 4-50 Life Time Factor, viii, 4-36, 4-53
Ext Analog O/P 2 Src, viii, 4-23, 4-50
Ext Analog O/P 3 Drive FS pu, viii, 4-
23, 4-50 —N—
Ext Analog O/P 3 Full Scale, viii, 4-23,
4-50 No. of Digital I/Ps, 4-20, 4-49
Ext Analog O/P 3 Offset, viii, 4-23, 4- No. of Digital O/Ps, 4-20, 4-49
50
Ext Analog O/P 3 pu, viii, 4-23, 4-50
Parameter Index 2 Technical Manual T2013EN0005 (10/06)

ALSPA MV3000e CANopen Parameter Index
Node Guard Method, viii, 4-35, 4-36, 4- —R—

53
Node Guard Period, viii, 4-35, 4-36, 4- RX Per Second, viii, 4-30, 4-52
53
Node ID, 4-27, 4-52
Node to Access, viii, 4-39, 4-55 —S—
—O— Spy Config., 4-57, 9

Spy Data 1, 4-57, 9
Spy Data 2, 4-57, 9
Object to Access, viii, 4-39, 4-55 Spy Data 3, 4-57, 9
Spy Data 4, 4-57, 9
Spy Data 5, 4-57, 9
—P— Spy Data 6, 4-57, 9
Spy PDO 1, ix, 4-47
PDO Channel.ID, ix, 4-44 Standard Slave, viii, 4-36, 4-53
PDO 1 COB-ID, ix, 4-47, 4-57, 9 Sub-Index to Access, viii, 4-39, 4-55
PDO
ix, 4-41,
1 Mode,
4-56 ix, 4-47, 4-57, 9 PDO Sync Master Period, viii, 4-35, 4-53
PDO
1 Word1 Word 1, ix, 4-45, 4-46, 4-56
1 Pointer,
—T—
PDO 1 Word 1 Scale, ix, 4-45, 4-46, 4-
56 TX Per Second, viii, 4-30, 4-52
PDO 1 Word 2, ix, 4-47, 4-57, 9
PDO 1 Word 2 Pointer, ix, 4-46, 4-56
PDO
ix, 4-46,
1 Word4-56
2 Scale,
ix, 4-47, 4-57, 9 PDO —U—
PDO
1 Word1 Word 3, ix, 4-46, 4-56 PDO
3 Pointer,
1 Word 3 Scale,
UnMonitored PDO Mask, viii, 4-38, 4-
ix, 4-46, 4-56
54
PDO 1 Word 4, ix, 4-47, 4-57, 9
Use Received Data, viii, 4-29, 4-52
PDO 1 Word 4 Pointer, ix, 4-46, 4-56
PDO 1 Word 4 Scale, ix, 4-46, 4-56
PDO Inhibit Time, viii, 4-36, 4-53
—W—
Warn/Trip Source, viii, 4-37, 4-54
(10/06) Technical Manual T2013EN Parameter Index 3

Parameter Index ALSPA MV3000e CANopen
Parameter Index 4 Technical Manual T2013EN0005 (10/06)

Block Diagram Page 1
Block Diagram
EXTENDED I/O SET UP

DIGITAL I/P NODE ID P59.00
ANALOG I/O NODE ID P59.01
ANALOG O/P NODE ID P59.02
TO ANY DIRECTLY WRITABLE PARAMETER
DIGITAL O/P NODE ID P59.03
No. of DIGITAL I/Ps P59.04
No. of DIGITAL O/Ps P59.05
EXTERNAL ANALOG INPUT 4 P59.25 - P59.29
EXTERNAL ANALOG INPUT 1
P59.10 EXT ANALOG I/P 1 BINARY MENU 42 REFERENCE MENU
P59.13 EXT ANALOG I/P 1 DRIVE FS pu
X ÷ + EXT ANALOG I/P 1 pu SCALED P59.14
+ FOR POSSIBLE USAGE PLEASE
REFER TO ALSPA MV3000 CANopen
P59.11 EXT ANALOG I/P 1 FULL SCALE FIELDBUS FACILITY PDO BLOCK
DIAGRAM
P59.12 EXT ANALOG I/P 1 OFFSET
EXTERNAL ANALOG OUTPUT 4 P59.45 - P59.49
FROM ANY PARAMETER
EXTERNAL ANALOG OUTPUT 1
+ EXT ANALOG O/P 1 pu P59.34
+
P59.34 EXT ANALOG O/P 1 pu
EXT ANALOG O/P 1 OFFSET P59.33
P59.34 EXT ANALOG O/P 1 pu X
EXT ANALOG O/P 1 FULL SCALE P59.32
÷ EXT ANALOG O/P 1 DRIVE FS pu P59.31
USE THE FOLLOWING VALUES FOR CONTROL FLAGS AND DIGITAL
O/Ps TO ALLOW CONNECTION TO THE EXTENDED DIGITAL INPUTS
P59.06
CANopen Network
BIT 0 1.100 (-1.100 for Inverse)

CAN Interface

P59.07
Block
BIT 15 1.115 (-1.115 for Inverse)
EXTENDED DIGITAL I/O
INPUTS
BIT 15 1.131 (-1.131 for Inverse)
DIGITAL I/Ps 0-15 P59.06
P59.08
DIGITAL 1/Ps 48-63 P59.09 BIT 0 1.132 (-1.132 for Inverse)
Technical Manual T2013EN

P59.09
BIT 15 1.147 (-1.147 for Inverse)
BIT 15 1.163 (-1.163 for Inverse)
EXTENDED DIGITAL OUTPUT MONITOR
OUTPUTS
EXTENDED DIGITAL OUTPUTS 0 - 15 P59.82
DIGITAL INPUTS 1.000 - 1.006
EXTENDED DIGITAL OUTPUTS 16 - 31 P59.83
DIGITAL O/P 1 Src P59.50
EXTENDED DIGITAL INPUTS 1.100 - 1.163
DRIVE STATUS FLAGS 2.000 - 2.111
3.000 - 3.015
RS485 CONTROL WORDS
3.100 - 3.115
4.000 - 4.015
RS232 CONTROL WORDS
4.100 - 4.115
DIGITAL O/P 30 Src P59.80 5.100 - 5.115
FIELDBUS CONTROL WORDS
5.200 - 5.215
APPLICATION CODE CONTROL FLAGS 6.000 - 6.031
CAN CONTROL WORDS 7.000 - 7.031
DRIVE SET UP & CONTROL
PROTOCOL P61.00
BAUD RATE P61.01
NODE ADDRESS P61.02
ALSPA MV3000e CANopen
CONFIGURE ON POWER UP P61.04

USE RECEIVED DATA P61.05
COMMUNICATIONS STATE P61.06 KEY
CANopen VERSION P61.34
STATUS MONITOR SUMMING DIGITAL
CANopen I/O MASTER P61.35 FLAG MULTIPLY DIVIDE
POINT JUNCTION I/O SOURCE
CAN LOSS LOGIC & DIAGNOSTICS XXX
TX PER SECOND P61.07
TRIP 200 CAN LOSS
WARNING 130 CAN LOSS
X ÷ +
+
RX PER SECOND P61.08
WARNING 132 BAD CAN-ID
CAN ERROR WORD P61.09
WARNING 131 CAN PDO/SEC TOO HIGH
CAN ERROR COUNT P61.10
WARNING 131 CAN PDO/IO CLASH
BUS OFF ACTION P61.11
CAN LOSS ACTION P61.12
ALSPA MV3000 CANopen Fieldbus Facility
(10/06)
111 CAN HEALTHY
Warn/Trip Source P61.43
Bad CAN-ID Source P61.45 Extended I/O Block Diagram
Bus Off Count P61.50
Issue 2 (10/04)
Block Diagram ALSPA MV3000e CANopen
Block Diagram Page 2 Technical Manual T2013EN0005 (10/06)

ALSPA MV3000e CANopen Block Diagram
TO ANY DIRECTLY WRITABLE PARAMETER
CAN REFERENCES
RECEIVE PDO P61.14 CAN REFERENCE 1

P61.15 CAN FALLBACK 1
RECEIVE PDO
P61.16 CAN REFERENCE 2
RECEIVE PDO
P61.17 CAN FALLBACK 2
REFERENCE POINTERS
RECEIVE PDO SCALING P61.18 CAN REFERENCE 3
BYTE 0 X PDO WORD 1 POINTER P62.x2 P61.19 CAN FALLBACK 3 P42.00 POINTER 1 SOURCE POSSIBLE SOURCE FOR
& => WORD 1 X
SPEED REFERENCE P9.00
BYTE 1 PDO WORD 1 SCALER P62.x3 P61.20 CAN REFERENCE 4 P42.01 POINTER 1 SCALE
BYTE 2 X PDO WORD 2 POINTER P62.x4 P61.21 CAN FALLBACK 4
& BYTE => WORD 2 P42.02 POINTER 2 SOURCE X POSSIBLE SOURCE FOR
3 PDO WORD 2 SCALER P62.x5 P61.22 CAN REFERENCE 5 SPEED REFERENCE P9.00
P42.03 POINTER 2 SCALE
BYTE 4 P61.23 CAN FALLBACK 5
X PDO WORD 3 POINTER P62.x6
& BYTE => WORD 3 POSSIBLE SOURCE
5 P61.24 CAN REFERENCE 6 P42.04 POINTER 3 SOURCE X FOR REFERENCE
PDO WORD 3 SCALER P62.x7
P61.25 CAN FALLBACK 6 SEQUENCER P17.21
BYTE 6 P42.05 POINTER 3 SCALE
& BYTE => WORD 4 X PDO WORD 4 POINTER P62.x8
7 P61.26 CAN REFERENCE 7
PDO WORD 4 SCALER P62.x9 P42.06 POINTER 4 SOURCE X POSSIBLE SOURCE FOR
P61.27 CAN FALLBACK 7 PID SET POINT
P61.28 CAN REFERENCE 8
P61.29 CAN FALLBACK 8 P42.08 POINTER 5 SOURCE POSSIBLE SOURCE FOR
X
PID FEEDBACK
TRANSMIT PDO P42.09 POINTER 5 SCALE
CAN CONTROL WORDS
TRANSMIT PDO FROM ANY DIRECTLY WRITABLE
P61.30 CONTROL WORD 1 P42.10 POINTER 6 SOURCE X POSSIBLE SOURCE FOR
PARAMETER TRIM REFERENCE
TRANSMIT PDO P61.31 CONTROL FALLBACK 1
SCALER 1 DRIVE SPEED P60.00
TRANSMIT PDO SCALING P61.32 CONTROL WORD 2 POSSIBLE SOURCE FOR
SPEED % EXTERNAL SPEED P60.01 P42.12 POINTER 7 SOURCE X
CANopen Network
BYTE 0 X PDO WORD 1 POINTER P62.x2 P61.33 CONTROL FALLBACK 2 SPEED TRIM REFERENCE
& => WORD 1
SCALER 2 DRIVE SPEED P42.13 POINTER 7 SCALE
BYTE 1 P60.02
PDO WORD 1 SCALER P62.x3 EXTERNAL SPEED
SPEED RPM P60.03
CAN Interface
CAN LOSS POSSIBLE SOURCE

BYTE 2 X PDO WORD 2 POINTER P62.x4 P42.14 POINTER 8 SOURCE
& BYTE => WORD 2
DRIVE TORQUE
& X FOR TORQUE
REFERENCE P15.00
3 SCALER 3 P60.04 P61.13 FREEZE/FALLBACK
PDO WORD 2 SCALER P62.x5 P42.15 POINTER 8 SCALE
TORQUE % EXTERNAL TORQUE P60.05
BYTE 4 X PDO WORD 3 POINTER P62.x6
& BYTE => WORD 3 POSSIBLE SOURCES FOR P42.16 POINTER 9 SOURCE X POSSIBLE SOURCE FOR
SCALER 4 DRIVE TORQUE P60.06 TORQUE LIMITS
5 ANY OF THE DRIVE CONTROL
PDO WORD 3 SCALER P62.x7 TORQUE Nm EXTERNAL TORQUE P60.07
FLAGS OR DIGITAL OUTPUT BITS P42.17 POINTER 9 SCALE
BYTE 6
& BYTE => WORD 4 X PDO WORD 4 POINTER P62.x8
SCALER 5 DRIVE FREQUENCY P60.08
7 P42.18 POINTER 10 SOURCE X POSSIBLE SOURCE FOR
FREQUENCY EXTERNAL FREQUENCY P60.09 TORQUE LIMITS
PDO WORD 4 SCALER P62.x9
SCALER 6 DRIVE PERCENT P60.10
PERCENT EXTERNAL PERCENT P60.11 POSSIBLE SOURCE FOR
P42.20 POINTER 11 SOURCE X TEMPERATURE
COMPENSATION SCALE
SCALER 7 DRIVE SPEED RAMP RATE P60.12 P42.21 POINTER 11 SCALE
SET UP & CONTROL
SPEED RAMP RATE EXTERNAL SPEED RAMP RATEP60.14
PROTOCOL P61.00 POSSIBLE SOURCE FOR
P42.22 POINTER 12 SOURCE X
BAUD RATE P61.01 SCALER 8 DRIVE TORQUE SLEW RATE P60.14 FLUX LIMIT
TORQUE SLEW RATEEXTERNAL TORQUE SLEW RATE
P60.15 P42.23 POINTER 12 SCALE
NODE ADDRESS P61.02
CONFIGURE P61.03 POSSIBLE SOURCE FOR
SCALER 9 DRIVE CURRENT P60.16 P42.24 POINTER 13 SOURCE X
CONFIGURE ON POWER UP P61.04 CURRENT EXTERNAL CURRENT P60.17 CURRENT LIMIT
USE RECEIVED DATA P61.05
SCALER 10 DRIVE VOLTS P60.18 POSSIBLE SOURCE
COMMUNICATIONS STATE P61.06
VOLTS EXTERNAL VOLTS P60.19 P42.26 POINTER 14 SOURCE X FOR
CANopen VERSION P61.34 TORQUE/MAGNET. CURRENT
CANopen NMT MASTER P61.35 SCALER 11 DRIVE RESISTANCE P60.20
RESISTANCE EXTERNAL RESISTANCE P60.21 POSSIBLE SOURCE
CANopen SYNC MASTER P61.36
P42.28 POINTER 15 SOURCE X FOR
SYNC MASTER PERIOD P61.37 DRIVE INDUCTANCE TORQUE/MAGENT. CURRENT
SCALER 12 P60.22
EXTERNAL INDUCTANCE P42.29 POINTER 15 SCALE
NODE GUARD METHOD P61.38 INDUCTANCE P60.23
NODE GUARD PERIOD P61.39 POSSIBLE SOURCE FOR
SCALER 13 DRIVE SCALAR 1 P60.24 POSITION REFERENCE
LIFE TIME FACTOR P61.40
SCALAR 1 EXTERNAL SCALAR 1 P60.25
PDO INHIBIT TIME P61.41
STANDARD SLAVE P61.42 SCALER 14 DRIVE SCALAR 2 P60.26 POSSIBLE SOURCE FOR
SCALAR 2 EXTERNAL SCALAR 2 P60.27 POSITION REFERENCE
TRIP 200 CAN LOSS
CAN LOSS LOGIC & DIAGNOSTICS P42.33 POINTER 17 SCALE
WARNING 130 CAN LOSS SCALER 15 DRIVE SCALAR 3 P60.28
TX PER SECOND P61.07
SCALAR 3 EXTERNAL SCALAR 3 P60.29 POSSIBLE SOURCE FOR
WARNING 132 BAD CAN-ID P42.34 POINTER 18 SOURCE X
RX PER SECOND P61.08 TACHO FEEDBACK
CAN ERROR WORD P61.09 P42.35 POINTER 18 SCALE
WARNING 131 CAN PDO/SEC TOO HIGH
CAN ERROR COUNT P61.10
WARNING 131 CAN PDO/IO CLASH
BUS OFF ACTION P61.11
CAN LOSS ACTION P61.12
KEY
Warn/Trip Source P61.43 111 CAN HEALTHY
STATUS
ALSPA MV3000 CANopen Fieldbus Facility PDO Block
Bad CAN-ID Source P61.45 MONITOR SUMMING DIGITAL
Bus Off Count P61.50
FLAG POINT
MULTIPLY DIVIDE
JUNCTION I/O SOURCE Diagram Issue 2 (10/00)
XXX
X ÷ +
+
(10/06) Technical Manual T2013EN Block Block Diagram Page 3

Block Diagram ALSPA MV3000e CANopen
Block Diagram Page 4 Technical Manual T2013EN0005 (10/06)

Converteam
logo Converteam and their frameworks are trademarks and service trademark applications of
France
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Tel: +33 (0) 8 25 02 11 02
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© Converteam UK Ltd - 2006 - Publication No. T2013EN.

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Manual Rede Can T2013EN - 0005 - 1006

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As leis e regulamentações locais de segurança devem ser sempre observadas.

As pessoas que trabalham no produto devem ser devidamente qualificados e

O produto é um componente projetado para incorporação em

O produto não deve ser usado como um sistema de segurança de um único

As aprovações e certificações de produtos serão invalidadas se o produto

THIS PUBLICATION CANopen RELATED

iv Technical Manual T2013EN (10/06)

(10/06) Technical Manual T2013EN Page v

5 Commissioning .................................................................................... 5-1

7 Maintenance .......................................................................................... 7-1

Appendix A Configuration Examples

vi Technical Manual T2013EN (10/06)

(10/06) Technical Manual T2013EN Page vii

viii Technical Manual T2013EN (10/06)

4.15.33 Sub-Index to Access P61.53 ...................................................... 4-39

6. Electronic Data Sheet File ...............................................................6-1

(10/06) Technical Manual T2013EN Page ix

Appendix A - Configuration Examples......................................................1

Appendix B - Configuration Tables...........................................................1

Appendix C - Example of Simple Communications on a Bridle............. 1

Appendix D - Using Access Commands Example...................................1

x Technical Manual T2013EN (10/06)

1.1 Introduction to CANopen

The latest models of ALSPA MV3000e drives support the

(b) to provide communication between drives in a production

1.2 CANopen Protocol

The ALSPA MV3000e acts as a CANopen slave device

(10/06) Technical Manual T2013EN Page 1-1

other ALSPA MV3000e drives, to achieve some local

1.3 CANopen Configuration

1.4 EDS (Electronic Data Sheet) File

The Electronic Data Sheet File is described in more detail at

1.5 Customer Support and Training

1.6 Associated Converteam Publications

Page 1-2 Technical Manual T2013EN (10/06)

2.1 CANopen Specification

The CANopen Fieldbus facility, which is available as a firmware

2.1.1 Supported Baud Rates

2.1.2 Bus Cable Length

(10/06) Technical Manual T2013EN Page 2-1

2.1.3 CANopen Protocol

Eight configurable PDOs are provided to allow the exchange of

Each PDO can be configured to transfer up to 4 drive

The direction and data update rate of the 10 PDOs are

2.1.4 Data Refresh Rate

Page 2-2 Technical Manual T2013EN (10/06)

For full details see 4.16.2.

Each configurable PDO can be configured to be synchronous

SDO objects are processed at the 10ms rate.

If the extended I/O capability is used:

" analogue I/O is processed at the 5 ms rate.

2.1.5 Data Transfer Rate

2.1.6 Data Consistency

This is best explained by an example

(10/06) Technical Manual T2013EN Page 2-3

The position Feedback is contained in two parameters, P38.02

Table 2-2 Example of Problems with Changing Values

1 00009999 0000 9999 00009999