Control Lenze 9300 inverters through CANOpen and Beckhoff PLC

[GFle]

Hello!

For my BSc in automation I am attempting to communicate with Lenze Servo Positioning inverters (e.g EVS9329-EP) for motion control. I am using a Beckhoff PLC with EL6751 CANOpen and Twincat 3.

In Twincat 3, under devices, I have created CANOpen nodes and loaded EDS-files. My questions are as follows:

Since the 9300 inverters are using Lenze System Bus CAN, PDO mapping does not seem possible. How can I send and receive data from the inverter and know what kind of data I am looking at?

When creating new axis under NC-task I can choose between encoder axis, continuous axis and discrete axis. What are the differences between them?

Any help, or clues to where I can find out more would be greatly appreciated!

Gjermund.

 

[ramajana]

Hello,

I have a similar task, but with another servo drive.
Did you manage to link a NC axis to your CanOpen box?

I would appreciate any help.
Thank you

 

[GFle]

Hi, I'm afraid I didn't get to establish any connection with the servo drive on that project, before the deadline. But if I recall correctly I did manage to link the NC axis to the CanOpen box and it recognized it was a Lenze servo drive. When connecting to servo I got a "wrong parameters" error, or something similar.

Afraid I can't help you with your project but atleast I can wish you good luck!

 

[mjoubert]

CanOpen Vs Lenze Canbus

The 9300 drives do not support CanOpen protocol. They use the Lenze CanBus protocol.

The 9400 Servo drives do support CanOpen and the 8400 drives have a parameter to select between the 2 protocols.