This document contains additional information for IF-Module CAN IF Module CAN Stratos 1. General ========== 1.1 Pump control ---------------- Generally the pump is controlled by three parameters. The first is the setpoint which is scaled in percent. The maximum (100%) values can be found at 21A1h (CONST_SPEED) 21A5h (VAR_DIFFPRSS) or 21ADh (CONST_PRES / CONST_DIFFPRESS) The second is the control mode which selects beween constant speed (CONST_SPEED), constant (differential) pressure (CONST_PRES / CONST_DIFFPRESS) and other modes. The third parameter is the command which generally swiches the pump on or off. Depending on the type of CAN communication you have to use different parameter sets. If you use simple control (more static , as described in 1.2) then the parameter set starting at 2000h is preferrable. If you use CANopen PDO mechanism the the parameters starting at 2008 are to be used. The readback of the parameters can be found starting with 2048h (selected ...). The feedback (the really active) parameters can be fount starting with 2040 (effective...) 1.2 Simple operation without PDOs ------------------------------------------------- For a very simple operation you might use SDO writes (see description in CAN_dictionary_Complete_CI.html) as follows: - Connect the pump with the IF-Module inserted to your CAN network - select node -id (address) of the pump within the pump menue (menue item with <==> ) - observe that the pump display shows the <==> symbpol which indicates a correct connection to the CAN bus (see 2.) - write setpoint to object 2000h, control mode to 2001h and command to 2002 h. - The result can be observed with the parameters 2040h, 2041h, 2042h 1.3 Operation with use of PDOs ------------------------------ Normally you would use a PLC with an .eds file import for your application. First of all you have to check if the system supports MPDOs. If not, you should use the .eds file ..._no_MPDO.eds You should map the control parameters starting at 2008h into yor system and the values you desire Please ensure that the systems sends out heartbeats and the parameter 1016h is configured correctly. 1.4 Use of MPDOs ---------------- Normally the pump is configured to send out TPDO3 as an MPDO. If your system supports MPDOs, the functionality can be defined in the system. If not, you may extract the data manually: - check the transmitted data in the object scanner list 1FA0h - set up a user configurable receive message with the COB-ID of the MPDO (refer to 1802h) - The index and subindix of the data is transmitted with each message and can be used as a reference to store the data. Details can be found in the CiA Draft standard 301 section 11.4 2. Commissioning ================ When connecting a pump with an IF-Module CAN or CAN Stratos to a CAN bus, - make sure that the pump has its unique node-id (address); the node id can be selected in the pump menu (Stratos: <==>, other pumps menue item 5.2.3.0) - successful connection is indicated by the <==> symbol in the pump diplay - disconnection from the bus will cause an E050 error 3. hints ======== Details can be found in the CiA Draft standard 301 available at http://www.can-cia.org This document refers to the version 4.02 of the standard WILO SE Dortmund 2011-01-03 www.wilo.com/automation