Application note October 13, 2020 - Issue 1.2 1 – GENERAL DESCRIPTION This document describes how to set up a CANopen PLC (master) with an INFRANOR® XtrapulsPac™-ak or XtrapulsPacHP-ak drive (slave). It is not written for a specific PLC. So, depending on the manufacturer, some terms might be slightly different. The following documents are referred to (and can be downloaded from our website www.infranor.com): - XtrapulsPac™ and XtrapulsPacHP™ Installation Guides, - XtrapulsPac™ and XtrapulsPacHP™ User Guides (functionalities such as 'SDO', 'PDO', 'SYNC', 'Node Guarding' are described in this document), - XtrapulsPac™ and XtrapulsPacHP™ EDS files, Adressees of this application note must have at least a basic knowledge in PLC or industrial PC programming. 2 – CONFIGURATION 2.1 – INSTALLATION For the wiring, node addressing, etc., please refer to the XtrapulsPac™ and XtrapulsPacHP™ Installation Guides. 2.2 – PLC SOFTWARE TOOL CONFIGURATION 2.2.1) Import of the EDS file The EDS (Electronic Data Sheet) file provides the PLC software tool with a description of the communication functionalities and objects available in the XtrapulsPac™-ak and XtrapulsPacHP™-ak drives. Please, refer to your PLC documentation for importing an EDS file. 2.2.2) CANopen configuration: MASTER If it has not been done automatically, you must add a CANopen Master to your PLC configuration. Then, configure your Master with the most common parameters: Transmission speed (or baud rate): it must be set according to the slaves connected to the bus, SYNC COB-ID: identifier of the synchronization messages; default value is 0x80, Period of the SYNC messages: communication cycle. Please, note that the XtrapulsPac™-ak and XtrapulsPacHP-ak drives only support a cycle lower than 150 milliseconds.

2.2.3) CANopen configuration: SLAVE For the next step, add your slaves and configure each one with: i- Node ID: node address, i- Communication cycle time: XtrapulsPac™ and XtrapulsPacHP™: the period must be defined in the drive: ■ in the appropriate field of the slave's configuration window (software CoDeSys, ...) ■ by sending an SDO (object 0x1006,0) at startup (software Unity, Sycon, ...) b) or by writing the desired cycle into object 0x1006,0 (communication cycle period) via Optio Launch the Optio software, connect it to your drive, then open the 'Fieldbus configuration' window: Define the...

The PDO mapping defines which application objects are transmitted within a PDO. This is made by means of the master's configuration tool (then, the mapping is automatically sent to the slave at the CANopen start-up). Typically, objects which are usually used or requiring a real-time access are mapped (such as "Control Word", "Status Word", ...). For each slave, proceed as follows: - add / remove the desired objects to/from the various PDOs, - configure the transmission type for each PDO: if you do not need to optimize the bandwidth or if you are not well aware of the compatibility of your PLC,...

Syntax: ► ":=" affectation: Example: 0x6060,0 := 1 read object 0x6061,0 and test if equal to '1' Description: Enable the drive, write the profile parameters, then start the movement. Only basics are shown here, error handling must also be considered. See XtrapulsPac User Guide for the object description. Switch to Profile position mode (0x6060,0 := 1) In Profile position mode ? (0x6061,0 = 1) In state ‘Operation enable’ ? (0x6041,0 and 0x26F = 0x227) NO Write Profil parameters : - Profile Acceleration (0x6083,0) - Profile Decceleration (0x6084,0) - Profile Velocity (0x6081,0) - Target Position...

Description: Enable the drive, write the homing parameters, then start the homing. Only basics are shown here, error handling must also be considered. Switch to Homing mode (0x6060,0 := 6) In state ‘Operation enable’ ? (0x6041,0 and 0x26F = 0x227) NO Write Homing parameters : - Homing Offset (0x60FC,0) - Homing Speeds (0x6099,1) (0x6099,2) - Homing Acceleration (0x609A) - Homing Method (0x6098) Switch to state ’Ready to switch on’ (0x6040,0 := 6) In state ‘Ready to switch on’ ? (0x6041,0 and 0x26F = 0x221) NO Switch to state ’Operation enable’ (0x6040,0 := 0xF) "CANopen PLC commissioning" application...

APPENDIX I: Sending SDO at startup 1) Sycon software (Hilsher, Telemecanique): Open the 'Node configuration' window, then 'Object Configuration': In this example, select objet 0x1006,0 in 'Predefined supported Objets in the EDS file', then 'Add to Configured Objets'. Once the object added, you can change its 'Current Value' (example: 0x4E20 for a communication cycle of 20 ms). "CANopen PLC commissioning" application note – Issue 1.2

2) Unity software (Schneider): In the hardware catalogue manager, edit the Xtrapuls-Pac-ak drive: in Expert Mode, click on the bootup procedure tab and make sure that "No Restore" is selected. "CANopen PLC commissioning" application note – Issue 1.2

i- In the Unity software, after having added the PAC_AK slave, open the node configuration window. o The tab 'Configuration' allows changing the application parameters: o To configure the communication parameters, click on the 'Object Dictionary' tab. Set object 0x1006,0 (communication cycle period in ps) according to the master cycle time ("SYNC message period"): ■n- PDO ■n- Error control -n- Bootup ' B' Object Dictionary 1 ' B' Cortigurstion Area Filter: Status Filter: * Tabs only available with CPU BMX 20102 and BMX 20302 If the tab Object Dictionary is not available, the parameter 0x1006,0...