Configuration of a Lexium Drive
(Original Document)
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At a Glance
You can configure a Lexium drive on the CANopen bus very easily. We will see how to carry out this configuration.
Before reading the following paragraphs, we recommend that that you perform the Advantys STB implementation on a CANopen bus example described in this manual, or that you read these implementation pages, as we will refer to them on several occasions.
Connecting the Lexium
The Lexium is connected to the CANopen bus via the AMO 2CA 001 V000 adapter:
NOTE: For implementation of any other connectors, please refer to the Lexium CANopen manual that you will find on the Motion Tools 3.0 CD ROM.
Description of Lexium PDOs
As with Altivar, the PDOs allow implicit management of the Lexium via PLC words (%MW or topological addressing %IW and %QW).
The Lexium uses two types of PDOs:
The PDO are exchanged using two predefined channels:
NOTE: The maximum data size is 8 bytes per channel and the Lexium version must be higher to or equal to version 5.51.
How to Configure a Lexium PDO
The table below shows the different steps for configuring a reception PDO, the Lexium PDO 22, on channel 1. .
Step
Action
1
Launch the Sycon software and create a new CANopen project.
Result: you should obtain bus architecture of this type:
2
Select the command Insert → Node.
Result: a cursor appears:
3
Place the cursor on the bus outside of the text frame that defines the master and click once.
Result: the following screen appears:
4
Select the file EDS LEXIUM17D and click on Add.
5
Confirm your selection with OK.
Result: the bus architecture shows a new node made up of a Lexium 17D. You must now configure the PDO 22 of this drive.
6
Double-click on the drive node to display the PDO window.
Result: a screen resembling the Advantys STB screen appears, allowing you to configure the two PDOs for the drive:
7
Select the first reception PDO.
8
Click on the Add to configured PDOs button and confirm the default transmission parameters by clicking on OK.
Result: a new line appears in the list of configured PDOs.
9
Click on this line, then on the Content Mapping PDO button.
Result: a new window appears.
10
Select the Idx Obj. 2060 (Feed rate or current).
11
Click on the Add Object button, then on OK to confirm.
Result: the requests 16#6040 and 16#2060 are associated with the PDO. You must now configure the PDO.
12
Select the first reception PDO again, then click on the Configure Object button.
Result: the PDO configuration window appears.
13
Scroll down through the list of Predefined objects specified in the EDS file and select the 1st receive PDO select line of the predefined object 2600.
14
Click on the Add to configured obj button.
Result: the object appears in the Objects configured automatically at node start-up window.
15
Enter 22 in the corresponding box of the Chosen value column.
16
Save the .CO file in order to be able to import it into the configuration of the TSX CPP 110 card using Control Expert.
17
Open your Control Expert project that contains the master of the CANopen bus (TSX CPP 110 card), declare the card, import the saved .CO file, configure the card with the default values, generate the project and transfer it to the PLC as in the Advantys STB example.
Result: the CANopen bus and your Lexium are operational.
Tests
You can carry our several tests in order to check whether the Lexium and the bus are operating correctly by opening your TSX CPP 110 card debug screen and by performing the following actions:
NOTE: Once you have checked that your Lexium was successfully commanded by the modification of words in the PLC automatically transmitted to it on the CANopen bus, you can implement your automation project.