Dear Joan,
I have a moderately tested application for this. The following steps are necessary for this:
1: ACOPOSinverter Settings
The following settings must be made manually on the inverter itself.
You can find these settings in the inverter user manual and also in the EDS download package (readme), which you can find on the B&R homepage.
Check the CAN address and select a compatible CAN baud rate in the AS project.
- In the AS project, the CAN address is shown as STx number in the “Physical view”
- In the AS project, the CAN baud rate can be set in the configuration of the CAN interface
Ensure the required/expected drive settings
Step 0: If drive has unclear parameter setup, reset the all parameter values to their defaults manually
CONF → FCS → FRY → ALL
- press enter; in order to switch ALL„ to ALL“
- press ESC; in order to return to CONF → FCS → FRY
CONF → FCS → FRY → GFS
- change the value from NO to YES
- press and hold enter until you get visual feedback
Step 1: Adapt the CAN address of the device
CONF -> FULL -> COM -> CNO -> ADCO
- set the CANopen address that has been defined in the AS project.
- press ESC; in order to return to CONF -> FULL -> COM -> CNO
Step 2: Adapt the CAN baud rate of the device
CONF -> FULL -> COM -> CNO -> BDCO
- check/set the CANopen baud rate
Step 3: Restart device by power off&on or ...
CONF -> FULL -> LAC
- change the value from STD to ERP
- press ESC; in order to return to CONF -> FULL
CONF -> FULL -> FLT -> RST -> RP
- change the value from NO to YES
- press and hold enter until you get visual feedback
Step 4: Rebuild and download your AS project
--> After the PLC reboot, the CANopen slaves will start.
--> In the I/O mapping, the ModuleOk data point will report TRUE.
2: AS Project
I have attached a C30 with P66 Automation Studio project.
The AS project is based on the DS402 library.
In the Project i use the B&R
20240318_P66_CanSample_V2.zip (2.4 MB)
CAUTION: Especially, the identifiers used by X20BC0073 and X20BR7300 have to be restricted manually.
DS402.zip (489.7 KB)
1.50_based_on_SEI_ATV320_CANopen_EDS_V2.9_IE40.zip (756.9 KB)