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CL3-E CANopen/USB Technical Manual

Setup and commissioning

Safety instructions

WARNING
Operation:
  • Never touch rotating parts of the motor while the motor is running. Otherwise there is a danger of injury.
  • The motor shaft must be disconnected from the machine in order to prevent unpredictable accidents. Otherwise there is a danger of injury.
  • Before starting operation with connected machine, change the settings while taking into account the para- meters of the machine. If you start operation without taking the correct settings into account, the machine can run out of control or cause malfunctions.
  • Before starting operation with connected machine, make sure that an emergency-stop can be carried out at any time. Otherwise there is a danger of injury.
  • Do not touch any of the motors during operation. Otherwise the high temperatures can cause panic reactions.
Maintenance and Inspection:
  • Do not attempt to disconnect the motor from the positioning control while the voltage is switched on. There is a danger of electric shock and destruction of the positioning control.
  • After switching off the voltage supply wait until the back-up capacitors have discharged. There is a danger of electric shock from the residual voltage.
  • Do not disassemble the stepper motor or the positioning control. The components are maintenance-free and opening them will invalidate any claim under guarantee. Otherwise there is a danger of electric shock or injury.
  • Do not attempt to change the wiring while the voltage supply is switched on. Otherwise there is a danger of electric shock or injury.
In residential areas, this product may cause high-frequency interference and may require interference suppression measures.
CAUTION

Alternating electromagnetic fields!

Alternating electromagnetic fields around current-carrying cables, especially around the supply and motor cables, can cause interference in the motor and other devices.

  • Shield the cables. Run the shield connection on one side or both sides to a short earth.
  • Use twisted pair cables.
  • Keep power supply and motor cables as short as possible.
  • Ground the motor housing large-area to a short earth.
  • Run supply, motor and control cables separately.

Preparation

The following components are required for set up and installation:
  • Motor Controller CL3-E
  • Voltage supply in accordance with the data sheet
  • For the configuration: a PC with Mikro USB cable
The following is required for the CAN interface:
  • CANopen master
  • and/or analyzer for CAN
The following is required for the Modbus interface:
  • Modbus Master
  • and/or analyzer for Modbus

CANopen set up and installation

Read the "CANopen" section on the motor controller if you have not already done so.

  1. Make sure, that the jumper J1 and J2 are put to the correct position (see jumper J1, J2: "Setting CANopen")
  2. Connect the CANopen Master or a comparable CAN device to one of the connectors of X7 or X8 (see "CANopen/RS-485 IN (connector X7)" or "CANopen/RS-485 OUT (connector X8)")
  3. Configure the CANopen master or comparable device to a baud rate of 1 MBd.
  4. Connect the voltage supply to connector X1 of the motor controller (see "Power (connector X1)")
  5. The motor controller must transmit a CANopen bootup message with Node-ID "127".

If a node ID other than "127" to "7" is required, continue with the "Change Node-ID" section.

If the baud rate has to be adapted, continue with the "Change baud rate" section.

If the bootup message could not be received, check the following points:
  • Termination needed – switch on the terminating resistor as described in the "Terminating resistor (switch S1)" section.
  • Check the CAN HIGH/LOW cabling, check the CAN-GND connection.
  • Check the CANopen master or comparable CAN device for the baud rate of 1 MBd.

Change Node-ID

The change of the Node-ID can only be done via the configuration file cfg.txt. As an alternative the value can get set via the CAN-bus and stored with the CANopen save mechanism (see chapter Save Objects).

In the following text the change of the Node-ID with the configuration file will get explained.

  1. Connect the voltage supply to connector X1 of the motor controller (see "Power (connector X1)")
  2. Connect the USB connector X3 with a USB cable to your PC (see "Micro USB (connector X3)".
  3. Open the file cfg.txt located on the controller.
  4. For the Node-ID can be set in the object 2009h to the required value. If the object is not set to any value in the configuration file, the nodId of "127" is used.

    Example
      For setting the Node-ID to the value "5", add the following tline to the file cfg.txt:
    2009:00=5
  5. Save the file cfg.txt.
  6. To activate the changes the controller hast to be restarted. Therefore disconnect the USB connection temporary. After the restart the new Node-ID is used.

Change baud rate

The change of the baud rate can only be done via the configuration file cfg.txt. As an alternative the value can get set via the CAN-bus and stored with the CANopen save mechanism (see chapter Save Objects).

In the following text the change of the Node-ID with the configuration file will get explained.

  1. Connect the voltage supply to connector X1 of the motor controller (see "Power (connector X1)")
  2. Connect the USB connector X3 with a USB cable to your PC (see "Micro USB (connector X3)".
  3. Open the file cfg.txt located on the controller.
  4. For the baud rate can be set in the object 2005h to the required value. If the object is not set to any value in the configuration file, the baud rate of 1 MBd is used.

    Example
      For setting the baud rate to the value "500 kBd", add the following tline to the file cfg.txt:
    2005:00=134
  5. Save the file cfg.txt.
  6. To activate the changes the controller hast to be restarted. Therefore disconnect the USB connection temporary. After the restart the new baud rate is used.

Modbus RTU set up and installation

  1. Connect the modbus master with the controller according to the interface:
  2. Connect the voltage supply to connector X1 of the motor controller (see "Power (connector X1)")
  3. The controller is set to the following settings ex factory (see chapter Change Modbus RTU configuration if other values are needed):
    • Slave Address: 5
    • Baudrate 38400 Bd
    • 8 Data Bits
    • 2 Stop Bits
  4. To test the connection, send the bytes 05 65 55 (or 05 65 55 8A AE with CRC) to the controller. With this, the controller will readout the object dictionary.

Change Modbus RTU configuration

The change of the configuration of the modbus RTU interface can only be done via the configuration file cfg.txt.

  1. Connect the voltage supply to connector X1 of the motor controller (see "Power (connector X1)")
  2. Connect the USB connector X3 with a USB cable to your PC (see "Micro USB (connector X3)".
  3. Open the file cfg.txt located on the controller.
  4. Set the object to the desired value.
  5. Save the file cfg.txt.
  6. To activate the changes the controller hast to be restarted. Therefore disconnect the USB connection temporary. After the restart the new settings are used.
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