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Technical documentation
by Berger Lahr
Online-Communication with Twin
Line-controllers in the Fieldbus
CAN Bus
Operating system: 1.0xx
Order no.: TLADOCCANME
Edition: -001, 06.02
CAN Bus
CAN Bus General Hazard Statement CAN Bus
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CAN Bus General Hazard Statement
HAZARD OF ELECTRIC SHOCK, BURN, OR EXPLOSION
Read and understand this bulletin in its entirety before install-
ing or operating Twin Line drive system products. Installation,
adjustment, repair, and maintenance of these drive systems
must be performed by qualified personnel.
Disconnect all power before servicing the power controller.
WAIT SIX MINUTES until DC bus capacitors discharge, then
measure DC bus capacitor voltage between the DC+ and DC-
terminals to verify that the DC voltage is less than 45 V. The
DC bus LED is not an accurate indication of the absence of
DC bus voltage.
The motor can produce voltage at its terminals when the shaft
is rotated! Prior to servicing the power controller, block the
motor shaft to prevent rotation.
DO NOT short across DC bus terminals or touch unshielded
components or terminal strip screw connections with voltage
present.
Install all covers and close enclosure door before applying
power or starting and stopping the drive system.
The user is responsible for conforming to all applicable code
requirements with respect to grounding all equipment.
Many parts in this drive system, including printed wiring
boards, operate at line voltage. DO NOT TOUCH. Use only
electrically insulated tools.
Before servicing drive system:
Disconnect all power.
Place a DO NOT TURN ON label on the drive system dis-
connect.
Lock the disconnect in open position.
Failure to follow these instructions will result in death or
serious injury.
DANGER
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CAN Bus Table of Content
CAN Bus V-1
Table of Content
Glossaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . V-5
Abbreviations. . . . . . . . . . . . . . . . . . . . . . . . . . . V-5
Product name . . . . . . . . . . . . . . . . . . . . . . . . . . V-5
Technical Terms . . . . . . . . . . . . . . . . . . . . . . . . V-6
Written conventions and note symbols. . . . . . . . . . . . . V-8
1 CAN bus technology
1.1 CAN bus transmission technology . . . . . . . . . 1-1
1.2 Network topology . . . . . . . . . . . . . . . . . . 1-1
1.3 Accessing procedures . . . . . . . . . . . . . . . . 1-2
2 The Fieldbus device
2.1 System requirements . . . . . . . . . . . . . . . . 2-1
2.2 Fieldbus devices in CAN Bus network . . . . . . . 2-2
2.3 Operating modes and functions in Fieldbus operation 2-2
2.4 Twin-Line manuals and literature references . . . . 2-3
2.5 Regulations, norms . . . . . . . . . . . . . . . . . 2-3
3 Safety
3.1 Hazard categories . . . . . . . . . . . . . . . . . . 3-1
3.2 Safety instructions . . . . . . . . . . . . . . . . . . 3-2
3.3 Intended use . . . . . . . . . . . . . . . . . . . . . 3-3
3.4 Qualification of the personnel . . . . . . . . . . . . 3-3
3.5 Optimizing Network Performance . . . . . . . . . . 3-4
4 Communication in the Fieldbus
4.1 Control access to Twin Line controller . . . . . . . 4-1
4.1.1 Data exchange . . . . . . . . . . . . . . . . . . 4-3
4.1.2 Data structure . . . . . . . . . . . . . . . . . . 4-4
4.1.3 Identification . . . . . . . . . . . . . . . . . . . 4-5
4.1.4 Data framework for transmitted data . . . . . . . 4-5
4.1.5 Data framework for received data . . . . . . . . 4-6
4.2 Mechanism for monitoring and acknowledgment . . 4-9
4.2.1 Connection monitoring . . . . . . . . . . . . . . 4-9
4.2.2 Function of sf and rf bits . . . . . . . . . . . . 4-11
4.2.3 Command error bit cmderr . . . . . . . . . . . 4-12
4.2.4 Example of a positioning command . . . . . . . 4-13
4.3 Action and control commands . . . . . . . . . . . . 4-14
4.4 Replacing devices . . . . . . . . . . . . . . . . . . 4-17
V-2 CAN Bus
Table of Content CAN Bus
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5 Installation and set-up
5.1 EMC . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1.1 Fieldbus cable installation . . . . . . . . . . . . . 5-1
5.1.2 Grounding and shielding of systems with potential
equalization . . . . . . . . . . . . . . . . . . . . 5-2
5.2 Installation . . . . . . . . . . . . . . . . . . . . . . 5-3
5.2.1 Installation and set-up of controller . . . . . . . . 5-3
5.2.2 Address and baud rate settings . . . . . . . . . . 5-3
5.2.3 Connecting the Twin Line controller . . . . . . . . 5-4
5.2.4 Termination . . . . . . . . . . . . . . . . . . . . 5-5
5.3 Set-up . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.3.1 Initiating network operation . . . . . . . . . . . . 5-6
5.3.2 Troubleshooting . . . . . . . . . . . . . . . . . . 5-6
6 Examples for Fieldbus operation
6.1 Structure of program examples . . . . . . . . . . . 6-1
6.2 Operating status . . . . . . . . . . . . . . . . . . . 6-3
6.2.1 Checking the operating status. . . . . . . . . . . 6-3
6.2.2 Changing the operating status . . . . . . . . . . 6-4
6.3 Setting processing parameters . . . . . . . . . . . . 6-7
6.3.1 Non operating mode specific processing
parameters . . . . . . . . . . . . . . . . . . . . 6-7
6.3.2 Operating mode specific processing parameters . 6-8
6.4 Reading device information . . . . . . . . . . . . . 6-9
6.4.1 Reading parameter settings . . . . . . . . . . . . 6-9
6.4.2 Reading status information . . . . . . . . . . . 6-10
6.5 Processing inputs/outputs . . . . . . . . . . . . . 6-11
6.6 Use of operating modes . . . . . . . . . . . . . . 6-12
6.6.1 Point-to-Point Positioning . . . . . . . . . . . . 6-12
6.6.2 Speed mode . . . . . . . . . . . . . . . . . . . 6-15
6.6.3 Electronic Gear . . . . . . . . . . . . . . . . . 6-16
6.6.4 Homing . . . . . . . . . . . . . . . . . . . . . 6-18
6.6.5 Manual movement . . . . . . . . . . . . . . . . 6-20
6.6.6 Data set operation. . . . . . . . . . . . . . . . 6-21
6.7 Using operating functions . . . . . . . . . . . . . 6-24
6.7.1 List control . . . . . . . . . . . . . . . . . . . . 6-24
6.7.2 Teach-in . . . . . . . . . . . . . . . . . . . . . 6-27
6.7.3 Normalization . . . . . . . . . . . . . . . . . . 6-27
6.7.4 Fast position value capture . . . . . . . . . . . 6-29
6.8 Examples of fault processing . . . . . . . . . . . . 6-31
6.8.1 Synchronous faults . . . . . . . . . . . . . . . 6-31
6.8.2 Asynchronous faults . . . . . . . . . . . . . . . 6-32
6.8.3 Other faults . . . . . . . . . . . . . . . . . . . 6-34
6.8.4 Resetting faults (FaultReset) . . . . . . . . . . 6-35
6.8.5 Reading and deleting the error memory. . . . . 6-36
7 Error handling
7.1 Error messages . . . . . . . . . . . . . . . . . . . 7-1
7.2 Synchronous errors . . . . . . . . . . . . . . . . . 7-2
7.3 Asynchronous errors . . . . . . . . . . . . . . . . . 7-3
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CAN Bus Table of Content
CAN Bus V-3
8 Service, maintenance and warranty
8.1 Service information . . . . . . . . . . . . . . . . . 8-1
8.2 Shipping, storage and disposal . . . . . . . . . . . 8-2
9 Accessories
9.1 List of accessories . . . . . . . . . . . . . . . . . . 9-1
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
V-4 CAN Bus
Table of Content CAN Bus
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CAN Bus Glossaries
CAN Bus V-5
Glossaries
Abbreviations
Product name
Abbrevia-
tion
Meaning
AC Alternating current
ASCII American Standard Code for Information Interchange
COS Controller Operating System
DC Direct current
E Encoder
E/A Inputs / output
EC European Community
EMC Electromagnetic compatibility
EU European Union
GSD File with device master data
HMI Human-Machine Interface, plug-in hand-held operating unit
Inc Increment
LED Light Emitting Diode
LWL Fiber Optic
M Motor
NEMA National Electrical Manufacturers Association
NFPA National Fire Protection Agency
PC Personal Computer
PLC Programmable logic controller
Abbrevia-
tion
Product designation Term used
TLC5xx Twin Line Controller 5xx Drive controller
TLHMI Twin Line HMI HMI hand-held operating unit
TLCT Twin Line Control Tool Commissioning Software
TLHBC Twin Line Holding
Brake Controller
Holding Brake Controller
TLBRC Twin Line Ballast Resis-
tor Controller
Ballast Resistor Controller
V-6 CAN Bus
Glossaries CAN Bus
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Technical Terms
Actual position of the drive system The actual position of the drive system gives the absolute or relative
positions of moved components in the system.
Actual position of the motor See Angular position of the motor.
Angular position of the motor The angular position of the motor corresponds to the angular position of
the rotor in the motor housing, and refers to the zero point or index point
of the position sensor.
Asynchronous error Error which is recognized and reported by the monitoring facilities built-
in to the controller.
CAN-C Fieldbus module which connects the controller to a CAN Fieldbus.
Control response Speed at which a controller reacts to a disturbance or to a change in the
input signal.
DC Bus The DC bus generates the necessary direct current for operating the
motor and provides the amplifier with the necessary energy. The DC bus
acts as a buffer to energy fed back by the motor.
Default values Preset values for the parameters of the Twin Line controller before the
first commissioning, factory settings.
Direction of rotation Rotation of the motor shaft in a clockwise or counter-clockwise direction.
A clockwise direction of rotation is given when the motor shaft rotates
clockwise as the observer faces the end of the protruding shaft.
Drive solution The drive solution comprises the drive system with its Twin Line control-
ler and motor, as well as the system mechanics forming an integral part
of the chain of motion.
Drive system The drive system consists of the Twin Line controller, motor and auxiliary
power and control devices (i.e. brake controller, HMI, etc.).
Electronic gear An input speed is recalculated by the Twin Line controller using the val-
ues of an adjustable gear ratio to produce a new output speed for the
motor movement.
Encoder Sensor for recording the angular position of a rotating element. Mounted
on the motor, the encoder signals the angular position of the rotor.
Error class Reaction of the Twin Line controller to an operational malfunction corre-
sponding to one of five error classes.
Forcing To change signal states irrespective of the hardware switching status in
the controller; with the control tool, for example. The hardware signals
remain unchanged.
High/open Signal status of an input or output signal; when no signal is present, sig-
nal voltage is high (high level).
HMI Hand-held operating unit which can be plugged into the Twin Line con-
troller. HMI: Human-machine interface.
I
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t monitoring Predictive temperature monitoring. On the basis of the motor current,
the expected heating of controller components is calculated in advance.
Should a limit value be exceeded, the Twin Line controller reduces the
current.
Incremental signals Angular steps of an encoder in the form of square-wave pulse
sequences. Relative changes in position are signalled by the number of
pulses contained in the pulse sequence.
Index pulse Encoder signal for referencing the rotor position in the motor. The
encoder sends one index pulse per revolution.
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CAN Bus Glossaries
CAN Bus V-7
Input device Input device is the device which can be connected to the RS-232 inter-
face for the purpose of commissioning; it is either the HMI hand-held
operating unit or a PC with the Commissioning Software.
Internal units The actual position of the drive system gives the absolute or relative
positions of moved components in the system.
Limit switch Switches which signal any overrun on the permissible travel.
Low/open Signal status of an input or output signal; when no signal is present, sig-
nal voltage is low (low level).
Node guarding Monitoring function at the RS-232 interface.
Optically isolated Electrical transmission of signals with electrical isolation.
Parameter Device data and values which can be set by the user.
Power amplifier This is the unit that controls the motor. The power amplifier generates
currents for controlling the motor in accordance with the signals from the
controller.
Pulse direction signals Digital signals with variable pulse frequencies which signal changes in
position and rotation direction via separate signal wires.
Quick-stop This function is used to command rapid deceleration of the motor by the
power amplifier. To achieve rapid deceleration, the power amplifier must
be operational during the entire deceleration period, the motor must be
dimensioned to allow for sufficient stopping torque, and the power ampli-
fier must be able to absorb the system mechanical load energy/power
during the deceleration.
RS-232 interface Communications interface of the Twin Line controller for the connection
of a PC or the HMI hand-held operating unit.
Sincoder An encoder for registering the position of the rotor of the motor as an
analog sine-cosine signal and as digital position data via the HIFA-C
module. Motor data are held in the Sincoder and are read into the con-
troller once the Twin Line controller is switched on.
Synchronous error Error which is signaled by the controller when it is unable to carry out a
command from the master device.
User units A user unit corresponds to the maximum precision at which a distance,
speed or acceleration value can be input. User units can be set for
parameters involving speed, position and acceleration.
Watchdog Device in the controller which detects internal faults. If a fault occurs, the
amplifier is switched off immediately.
V-8 CAN Bus
Glossaries CAN Bus
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Written conventions and note symbols
Action symbols This action symbol is used for step-by-step instructions which can be
carried out as they are described. If one of the instructions leads to a
noticeable response from the controller, this will be given after the
description of the action to be carried out. In this way you will receive
direct confirmation that a particular step has been properly executed.
Enumeration symbol The enumeration symbol is used for listing individual points in a given
information group in summary form. If the result of steps or sequences
is described, the step to be performed is described first.
Menu paths In the Twin Line Controller commissioning software, actions can be ini-
tiated via "Menu menu item ...". For example, selecting "File
Save" in the "File" menu under menu item "Save" will save data to the
data storage medium.
Parameter name Parameters are written in this handbook in the following description:
parameter group.parameter name (Index:Subindex)
Example: CtrlBlock1.n_max (19:5) for a parameter in the group
CtrlBlock1 describing the maximal rotation.
In the parameter chapter of the device book, more information can be
found about parameters. They are sorted and listed there in groups.
This symbol is used for general notes which give additional
information about the controller.
Passages which are preceded by this symbol may have to
be discussed in more detail with customer service. Refer to
"Service information" on page 8-1, for contact information.
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CAN Bus CAN bus technology
CAN Bus 1-1
1 CAN bus technology
1.1 CAN bus transmission technology
The CAN bus was originally developed for fast, cost-effective data trans-
mission for automotive engineering. In the meantime the CAN bus is
also used in industrial automation technology, and has been further
developed for communication at the Fieldbus level.
The CAN bus is a standardized open bus, through which devices, sen-
sors and actuators from different manufacturers communicate with each
other.
Twin Line controllers can be integrated with the Fieldbus module CAN-C
in a CAN bus network.
1.2 Network topology
CAN bus devices The CAN bus network consists of several CAN bus devices which are
connected via a bus cable. Every CAN bus device can send commands
if it is configured as a master device. If it is configured as a slave device,
it can receive commands. Data between network devices are transmit-
ted serially.
Master Masters are active bus devices which control data traffic in the network.
Examples of master devices are:
Automation devices, e.g. PLCs
PCs
Programming devices
Slaves Slaves are passive bus devices. They receive control commands and
provide data for the master device. Examples of slave devices are:
Input/output modules
Drive controllers, e.g. Twin Line controllers
Sensors and actuators
1-2 CAN Bus
CAN bus technology CAN Bus
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1.3 Accessing procedures
Master-slave technique Data exchange with drive controllers is effected by means of the master-
slave technique. The master device sends a command to the slave
device, and waits for the slave to acknowledge the command. The slave
responds after a command has been sent by the master.
A drive controller is addressed by means of two identifiers which are
derived from the slave devices address:
Identifiers for transmitted data with which the controller recognizes
a command addressed to it
Identifiers for received data through which the master device identi-
fies a message as confirmation of receipt
Details on defining identifiers can be found in the chapter entitled "Com-
munication in the Fieldbus" on page 4-1.
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CAN Bus The Fieldbus device
CAN Bus 2-1
2 The Fieldbus device
2.1 System requirements
The Twin Line controller must be fitted with the CAN-C Fieldbus interface
for operating in a Fieldbus.
The network cable is available as an accessory.
Fig. 2.1 Twin Line controller with Fieldbus fittings
Item No. Designation Order No.
1 1 Twin Line controller with CAN-C module
Drive controller TLC4xx, TLC5xx or TLC6xx
TLCxxxxFxx2x4x
4 1 Manual for CAN Bus
Instruction manual for corresponding con-
trollers
TLADOCCANME
TLADOCxxxxE
Item No. Designation Order No.
2 1 Network cable for CAN Bus TLACDCBAyyy
1)
1) Cable length yyy: 005, 015, 030, 050: 0.5 m, 1.5 m, 3 m, 5 m
3 1 Terminating plug for CAN-C module
- 9-pole connector
- 9-pole pins
TLATA
TLATB
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CAN-C
2-2 CAN Bus
The Fieldbus device CAN Bus
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2.2 Fieldbus devices in CAN Bus network
Fieldbus devices from Berger Lahr can be operated in the same Field-
bus segment. However, the commands for Twin Line controllers differ
from those for other Berger Lahr devices in the Fieldbus.
Fig. 2.2 Fieldbus devices from Berger Lahr in the network
2.3 Operating modes and functions in Fieldbus operation
Depending on equipment and model, Twin Line controllers operate in a
Fieldbus with the following operating modes and functions:
Relative and absolute positioning
Speed mode
Electronic gear
Reference movement and dimension setting
Manual movement
Operating functions include
List control
Teach
Normalization
Ramp functions
Brake function
Monitoring functions
The Fieldbus can be used to call up and change Twin Line controller
parameter settings, monitor inputs and control outputs, as well as to acti-
vate diagnostic and fault monitoring functions.
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CAN Bus The Fieldbus device
CAN Bus 2-3
2.4 Twin-Line manuals and literature references
Twin Line manuals Twin Line Controller 4xx, 5xx and 6xx manual for TLC4xx, TLC5xx and
TLC6xx Controllers
Twin Line HMI manual for the hand-held HMI device
TLCT commissioning software manual for the Twin Line Control Tool
software
2.5 Regulations, norms
ISO/DIS 11519-1
ISO/DIS 11898
NEMA ICS 1.1: Safety Guidelines for the Application, Installation and
Maintenance of Solid State Control.
NEMA ICS 7.1: Safety Standards for the Construction and Guide for
Selection, Installation and Operation of Adjustable-Speed Drive Sys-
tems.
2-4 CAN Bus
The Fieldbus device CAN Bus
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CAN Bus Safety
CAN Bus 3-1
3 Safety
3.1 Hazard categories
Safety notes and general information are indicated by hazard messages
in the manual. In addition there are symbols and instructions affixed to
the Twin Line controller that warn of possible hazards and help to oper-
ate the controller safely.
Depending on the seriousness of the hazard, the messages are divided
into three hazard categories. The symbols shown emphasize the degree
of hazard present.
DANGER
WARNING
CAUTION
The signal word is followed by a statement of the hazard (for example,
electric shock) and may be accompanied by a pictogram depicting the
hazard or additional descriptive information concerning the hazard.
Following the statement of hazard is information on how to avoid or
mitigate the hazard.
The last portion of the hazard message states the consequences of
failure to follow the information contained in the hazard message.
DANGER
DANGER indicates an imminently hazardous situation which, if not
avoided, will result in death or serious injury.
WARNING
WARNING indicates a potentially hazardous situation which, if not
avoided, can result in death or serious injury.
CAUTION
CAUTION indicates a potentially hazardous situation which, if not
avoided, can result in minor or moderate injury.
CAUTION
CAUTION, used without the safety alert symbol, indicates a potentially
hazardous situation which, if not avoided, can result in property damage.
3-2 CAN Bus
Safety CAN Bus
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3.2 Safety instructions
HAZARD OF ELECTRIC SHOCK, BURN, OR EXPLOSION
Read and understand this bulletin in its entirety before install-
ing or operating Twin Line drive system products. Installation,
adjustment, repair, and maintenance of these drive systems
must be performed by qualified personnel.
Disconnect all power before servicing the power controller.
WAIT SIX MINUTES until DC bus capacitors discharge, then
measure DC bus capacitor voltage between the DC+ and DC-
terminals to verify that the DC voltage is less than 45 V. The
DC bus LED is not an accurate indication of the absence of
DC bus voltage.
The motor can produce voltage at its terminals when the shaft
is rotated! Prior to servicing the power controller, block the
motor shaft to prevent rotation.
DO NOT short across DC bus terminals or touch unshielded
components or terminal strip screw connections with voltage
present.
Install all covers and close enclosure door before applying
power or starting and stopping the drive system.
The user is responsible for conforming to all applicable code
requirements with respect to grounding all equipment.
Many parts in this drive system, including printed wiring
boards, operate at line voltage. DO NOT TOUCH. Use only
electrically insulated tools.
Before servicing drive system:
Disconnect all power.
Place a DO NOT TURN ON label on the drive system dis-
connect.
Lock the disconnect in open position.
Failure to follow these instructions will result in death or
serious injury.
DANGER
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CAN Bus Safety
CAN Bus 3-3
3.3 Intended use
Before being used in a network, Twin Line controllers must be correctly
installed and their functions tested in an initial start-up test. For intended
use, also see the technical documentation of the controller.
Twin Line controllers with the CAN-C module may be used in networks
with cabling to CiA Draft Standard 102 V2.0.
Network cabling must be installed to EMC specifications before a device
may be started up in the network.
3.4 Qualification of the personnel
Work on and with the controller may only be carried out by qualified per-
sonnel.
Qualified personnel are people who, by technical training, knowledge
and experience, are able to assess the work to be done and to recognize
and avoid possible hazards.
Qualified personnel will be aware of the current standards, regulations,
and accident prevention regulations which must be observed when
working on the controller.
LOSS OF CONTROL
The designer of any control scheme must consider the poten-
tial failure modes of the control signal paths and, for certain
critical control functions, provide a means to achieve a safe
state during and after a signal path failure. Examples of critical
control functions are Emergency Stop and Overtravel Stop.
Refer to NEMA ICS1.1 Safety Guidelines for the Application,
Installation and Maintenance of Solid State Control and NEMA
ICS7.1 Safety Standards for construction and Guide for Selec-
tion, Installation and Operation of Adjustable Speed Drive
Systems for further information
Separate or redundant control paths must be provided for crit-
ical control functions.
System control signal paths may include communication links.
Consideration must be given to the implications of unantici-
pated transmission delays or failure of the link.
Failure to follow these instructions can result in death or
serious injury.
WARNING
3-4 CAN Bus
Safety CAN Bus
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3.5 Optimizing Network Performance
When structuring the information exchange requirements for a net-
work, consider the speed of the communication required to implement
the application properly. Use the communication method which best
matches the speed requirements of the information exchange. Commu-
nicate information only when required by the application. Minimize net-
work traffic by design. For example, when controlling a simple process
requiring only a few control functions, send only the necessary param-
eters. This minimizes network traffic and maintains best overall network
speed.
This minimizes network traffic and maintains best overall network
speed.
For better network security, keep drive controllers and their associated
control devices on the same local network. As far as possible, minimize
or eliminate the need for control wiring to cross repeaters.
Use distributed control where possible. The Twin Line controller has a
large number of application functions which can be used in conjunction
with network communications. Where possible, use these functions to
allow local control by the controller while using the network to commu-
nicate supervisory information. This minimizes the information
exchange burden on the network and the controlling device.
Understand the failure possibilities of the designed network. Provide
control redundancies and contingencies appropriate for the intended
application.
Follow the cable routing practices described in section 5.1.1. Improp-
erly installed network wiring can cause noisy or intermittent data trans-
mission with resulting loss of network speed and deterioration of
security.
LOSS OF CONTROL
Gateways in the communication link may keep the connection
while the master of the Twin Line controller is out of order.
Use timeout monitoring functions in master and Twin Line con-
troller to insure correct network functioning.
Check timeout monitoring function before starting or stopping
the drive system.
Failure to follow these instructions can result in death or
serious injury.
WARNING
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CAN Bus Communication in the Fieldbus
CAN Bus 4-1
4 Communication in the Fieldbus
4.1 Control access to Twin Line controller
UNINTENDED EQUIPMENT OPERATION
Writing to parameters that are designated as reserved may
cause unintended equipment operation.
DO NOT write data to parameters unless the function to be
performed is completely understood. Consult the TLC xxx
technical documentation for additional details.
Bit 0 is right-most (least significant) bit. Bit 15 is left-most (most
significant) bit.
Do not establish Fieldbus communication unless the commu-
nication principles in the Fieldbus are completely understood.
Consult the chapter Communication in the Fieldbus in this
documentation.
Failure to follow this instruction can result in death or
serious injury, or equipment damage.
WARNING
LOSS OF CONTROL
The designer of any control scheme must consider the poten-
tial failure modes of the control signal paths and, for certain
critical control functions, provide a means to achieve a safe
state during and after a signal path failure. Examples of critical
control functions are Emergency Stop and Overtravel Stop.
Refer to NEMA ICS1.1 Safety Guidelines for the Application,
Installation and Maintenance of Solid State Control and NEMA
ICS7.1 Safety Standards for construction and Guide for Selec-
tion, Installation and Operation of Adjustable Speed Drive
Systems for further information
Separate or redundant control paths must be provided for crit-
ical control functions.
System control signal paths may include communication links.
Consideration must be given to the implications of unantici-
pated transmission delays or failure of the link.
Failure to follow these instructions can result in death or
serious injury or equipment damage.
WARNING
4-2 CAN Bus
Communication in the Fieldbus CAN Bus
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Local and remote access Data exchange and control of Twin Line controllers can be carried out
via various access channels:
Locally via the RS-232 interface with the HMI hand-held operating
device or TLCT commissioning software, or via the signal interface
Remotely over the Fieldbus
Fig. 4.1 Local and remote access to Twin Line controllers
Automatic access security If an operating mode is set through an access channel, any active com-
mands using this channel must be completed before another access
channel can change mode. One exception exists for the Stop command.
The Stop command is always active and may be entered from any inter-
face.
Channel access to the Twin Line device can be enabled and disabled
using the Commands.On\Auto parameter.
If this parameter has been set to 1, access via other channels is not
available until the channel that has set the parameter resets it to 0, or
the access port is interrupted (for example, using Fieldbus mode).
If the drive is enabled by at least two enable input sources, the drive will
remain enabled, even if one enable input source is withdrawn. Enable
sources are Enable signal input, TLCT, TLHMI and Fieldbus. All
enabling input sources must be withdrawn to disable the drive.
If a movement command is initiated through the Fieldbus, no movement
can be simultaneously triggered through a local device. This ensures
that a running movement command can be completed in a controlled
manner through the Fieldbus.
In addition, local operating devices access to the Twin Line controller
can be barred and released via Fieldbus commands. Local channels
become available again when they are released by the master device or
when Fieldbus operation is interrupted.
STOP
ESC
CR
Twin Line
HMI
PC with
TLCT
Signal interface
with a switchboard
Local Fieldbus
LN
Parameter Name Idx:Sidx TL-HMI Explanation and unit [ ] Range of values Default
Value
R/W
rem.
Commands.On\Auto 29:30 - Access to the mode setting UINT16
0: Access via all channels
1: Access only via the channel
that has set this parameter
0 R/W
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CAN Bus Communication in the Fieldbus
CAN Bus 4-3
Communication via parameters The basis for communication between Twin Line controllers and the
Fieldbus master device is formed by the Twin Line controller parameters.
A Fieldbus command addresses each parameter through an index and
sub-index.
Fig. 4.2 Example of a parameter in a Fieldbus command
The number of usable parameters depend on the Twin Line controller. A
list of all parameters can be found in the Twin Line controller manual.
The parameters are listed in their functional context to each operating
mode and again at the end of the manual in a group overview.
The number format of the parameter values in a Fieldbus
command can be seen from the group overview in the
chapter, 'Parameters' in the device manual.
Example: for the parameter I_max (18:2), the conversion factor from cur-
rent strength to values to be inputted is: 100=1Apk. If input is 100, it will
set a current strength of 1Apk.
4.1.1 Data exchange
Online command processing The master device sends a command to the Twin Line controller in order
to have a movement assignment carried out, activate operating func-
tions or request information from the controller. The controller carries out
the command and acknowledges its successful execution.
The exchange of data follows a fixed routine. The process is always
viewed from the point of view of the master device:
Fig. 4.3 Communication between master device and controller
Initiating absolute point-to-point positioning
Index: sub-index: 35:01
Parameter name: PTP.p_absPTP
01 35
Target position: 4650 increments
... 4650
Fieldbus command
TLCxxx
Controller
CAN-Bus master device
to master device from master device
Buffer for
Unit functions
Received data
Transmitted data Received data
User program
4-4 CAN Bus
Communication in the Fieldbus CAN Bus
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Transmitted data to the controller:
The master device places a command in the data transmission
memory. From there it is transmitted to the controller and carried
out.
Received data from the controller:
The controller acknowledges the execution status of the command
in the received data. If the master device receives an acknowledg-
ment with no error message, the command has been correctly exe-
cuted.
The master device can send new commands as soon as it has
received acknowledgment of the current command.
Commands The master device transmits control commands and action commands
with the transmitted data. After sending a control command, it receives
an acknowledgment from the controller confirming whether the process-
ing operation has been successfully carried out and completed.
In the case of an action command, the controller merely reports back
whether a process has been successfully initiated. The master device
must thereafter continuously monitor for the end of the processing task,
by requesting and evaluating data received from the controller.
Details of both commands are described in the section entitled "Action
and control commands" from page 4-14.
4.1.2 Data structure
Besides command and control information, data transmitted and
received also contain administration data for monitoring network opera-
tion. These administration data are provided by the user program in the
master device.
To enable communication with the controller to function on the network,
transmitted and received data must be exchanged, programmed and
evaluated in an eight byte data framework.
Fig. 4.4 Data structure of the data framework
The first byte transmitted (byte 1) in the eight byte block contains
acknowledgment information for co-originating data exchange.
The data framework with transmitted and received data, and all byte,
word and double word values are given in hexadecimal notation in the
manual. Hexadecimal values are indicated by an h after the value, e.g.
31h.
7 6 5 4 3 2 1 0
1 2 3 4
1 2
1 2
3 4
5 6 7 8
Byte
= 8 bits
High byte
High word
Bit
1 byte 1 word
Word
= 2 bytes
1 double word
Low byte
Low word
Double word
= 4 bytes
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CAN Bus Communication in the Fieldbus
CAN Bus 4-5
4.1.3 Identification
Every device in the CAN bus is addressed through identifiers. The iden-
tifier is calculated from the slave devices address and an offset to dis-
tinguish between transmitted and received data.
Identifier for transmitted data = Device address* 16 + 0
Identifier for received data = Device address* 16 + 8
Examples:
The master device transmits to a slave device which has the
address 126 (7Eh):
Identifier transmitted data: 126 (7Eh) * 16 = 2016 (7E0h)
The master device waits for the received data from the slave device
through:
Identifier for received data: 126 (7Eh) * 16 + 8 = 2024 (7E8h)
For controller address 3, this results in:
Identifier transmitted data: 48 (30h)
Identifier received data: 56 (38h)
Identifiers are transmitted with administration data, they do not form part
of the eight byte data framework.
32 devices can be addressed in one network branch in the CAN bus
Fieldbus, and up to 128 devices in a network which has been extended
with repeaters.
4.1.4 Data framework for transmitted data
The master device uses transmitted data to send a control or action
command to the controller.
Fig. 4.5 Transmitted data framework
Index, 2 bytes
Sub-index, 1 byte
Requestdata
Requestdata, 1 byte
Commanddata
Bit
sf
7 2
0 0 0 0 0 0 0
1 0 0
6 5 4 3 1 0
1 2 3 4 5 6 7 Byte 8
sf 0 0 0 0
Bit
Byte
. . . 31
5 6 7 8
0
Commanddata, 4 bytes
Read
Write
4-6 CAN Bus
Communication in the Fieldbus CAN Bus
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Byte 1: requestdata This byte contains control information for acknowledging and synchro-
nizing as well for differentiating whether the command is a write com-
mand or a read command.
The acknowledgment mechanism via sf and rf is described on page
4-11.
Byte 2...4: sub-index, index Index and sub-index are used to address the parameter which is evalu-
ated as a command in the controller. The allocation of parameters for
index and sub-index, and the parameter settings are described in the
controller manual.
Byte 5...8: commanddata These four bytes contain settings for the parameter transmitted to the
controller as a command, e.g. the set speed for a PTP positioning
maneuver.
When a parameter of type INT16 or UINT16 is transmitted, the value is
stored in commanddata in bytes 7 and 8, and the entries in bytes 5 and
6 have the value 0.
The data types can be found in the controller's manual.
4.1.5 Data framework for received data
Received data supply the controllers answer to a command. At the
same time they include information on the controllers operating status.
Fig. 4.6 Received data framework
Bit Name Meaning
2 0: read value: The controller reads a value defined by index
and sub-index, and places it on the bus.
1: write value: A parameter value is written to the controller.
7 sf (sf: sendflag)
The master device flags a new command for the controller
by changing the signal of the sf bit.
Used together with rf in received data
1 2 3 4 5 6 7
Fb-statusword, 2 bytes
Controldata, 1 byte
Responsedata, 1 byte
Responsedata
cmderr=0: readdata, 4 bytes
cmderr=1: errnum, 2 bytes
Byte
Bit
Bit
Bit
Bit
Byte
Byte
Bit
rf
7
7
0 0 0 cmderr
0 0 0 0 x_end 0 Sign_SR
6
Controldata
. . .
. . .
. . .
ref_ok 0 mode pwin
6 5
5
4
4
x_err x_add_info 0 FltSig warning
15
15
31
14 13 9 8 7 6 5 3
Fb-statusword
8
5 6 7 8
7 8
cos
0 0 0
0
. . . 0
0
0
Readdata
3 1 2 0
Errnum
cmderr=0:
cmderr=1:
12 11 10 4
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CAN Bus Communication in the Fieldbus
CAN Bus 4-7
Byte 1: responsedata The first byte contains the response data from the controller on acknowl-
edgment, synchronization and error detection, and on the identification
of the Fieldbus service.
The acknowledgment mechanism via sf and rf is described on page
4-11.
Byte 2: controldata The controller uses the control data to provide information on the oper-
ating mode set and to supply additional axis data. Control data can also
be determined via the Low byte of the Status.xMode_act parameter
(28:3).
Bit Name Meaning
6 cmderr Command error (cmderr: command error), signal is only
valid after correct acknowledgment of a data package.
0: Command was executed without error.
1: Command error, bytes 7 and 8 contain the error number
errnum.
7 rf Controllers acknowledgment of receipt by changing rf bit
(rf: receiveflag).
rf = sf: Command recognized and initiated
rf sf: New command not yet processed
Bit Name Meaning
0..4 Mode Current axis operating mode, bit-coded
Example: 00011 - PtP positioning
1: Manual movement
2: Referencing
3: PtP positioning
4: Speed mode
5: Electronic gear
5 ref_ok 0: No reference point fixed
1: Axis has been referenced
6 Pwin Standstill window, permissible control deviation
0: No standstill
1: Motor stopped in standstill window
4-8 CAN Bus
Communication in the Fieldbus CAN Bus
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Byte 3, 4: fb-statusword The operating status of the controller is monitored by means of the sta-
tus signals. This information can also be derived via the Low word of the
driveStat parameter (28:2).
Byte 5..8: readdata The readdata contains control information, e. g. the current position of
the motor. The controller updates this control information before each
message is sent to the master device. It sends this information to the
master device with each receive data set.
The master device requests new read data by means of a command with
the status, read value, see "Data framework for transmitted data", page
4-5, byte 1.
When a parameter of type INT16 or UINT16 is transmitted, the value is
stored in readdata in bytes 7 and 8, and the entries in bytes 5 and 6 have
no significance.
The data types used can be found in the controller's manual.
If no read value has been requested yet, the controller communicates
the current axis position.
Read data are transmitted when the command has been executed with-
out error.
Byte 7, 8: errnum If a command is not executed correctly, the command error bit cmderr
in byte 1 signals an error. The cause of the error can be determined via
the error number errnum. A list containing a description of the error
numbers can be found in the manual in the chapter on diagnostics and
error correction.
Bit Name Meaning
0..3 Cos Operating status of the controller, bit-coded
Details on the display and recognition of the operating sta-
tus can be found in the manual in the chapter on diagnostics
and error correction.
5 FltSig Internal monitoring signals
0: no error recognized
1: error recognized, cause via parameters
Status.FltSig_SR (28:18) and
Status.IntSigSr (29:34)
6 Sign_SR External monitoring signals
0: no error recognized
1: error recognized, cause via
Status.Sign_SR (28:15) parameter
7 Warning Warning signal
0: no warning signal
1: warning signal, cause via parameters
Status.FltSig_SR (28:18) and
Status.IntSigSr (29:34)
13 x_add_
info
Status bit for monitoring processing status, see page 4-14
14 x_end Status bit for monitoring processing status, see page 4-14
15 x_err Status bit for monitoring processing status, see page 4-14
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CAN Bus Communication in the Fieldbus
CAN Bus 4-9
4.2 Mechanism for monitoring and acknowledgment
4.2.1 Connection monitoring
To ensure error-free data exchange, two monitoring mechanisms are
continuously used on master and slave device sides.
Timeout monitoring
Acknowledgement mechanism
Timeout monitoring A timeout time can be set in the slave device within which the master
device must send a new message. If no message is received from the
master in this time, the controller will halt the processing operation which
has been triggered over the Fieldbus.
The master device can report by sending a command, which is acknowl-
edged by the controller.
The time interval to the timeout signal can be set via the M4.toutCan
parameter (24:26). Time interval 0 switches this monitoring off.
When not using timeout monitoring, the loss of communication will not
cause the controller to generate a fault. The controller will continue to fol-
low the last valid command it received over the network.
NOTE: Use this function during normal network operation. The timeout
monitoring may be disabled during start-up and troubleshooting. The
system designer must provide in this case alternate control paths for
starting, stopping, and controlling the motor.
Controller response on timeout monitoring fault can result in two differ-
ent situations:
If the drive was enabled via input signal, (IO-Mode= 2, for
IO_mode=2 see technical documentation) the drive executes a
quick stop when a movement is commanded over Fieldbus.
If the drive was enabled via Fieldbus (IO-Mode=0 or 1, for
IO_Mode=0,1 see technical documentation), the drive disables, no
quickstop is executed and the output signals and forcing commands
set via the Fieldbus are cleared.
LOSS OF CONTROL
Provide alternate control paths (Start, Stop and Speed):
When not enabling timeout monitoring.
When motor control is required while a communication fault
exists.
Failure to follow these instructions can result in death or
serious injury or equipment damage.
WARNING
4-10 CAN Bus
Communication in the Fieldbus CAN Bus
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Acknowledgement mechanism A special acknowledgement mechanism is required for a slave device to
identify and confirm a new command. The acknowledgement mecha-
nism supervises the exchange of data between master device and con-
troller, and synchronizes both devices when data transmission is cyclical
on the Fieldbus.
Only when a command has been acknowledged:
Are the other received data valid as a response to the command
Can a new command be processed by the controller
Three bits are significant for the acknowledgement mechanism:
The sf bit in the transmitted data
The rf bit in the received data
The cmderr bit in the received data
The sf and rf bits are used to ensure data consistency for the trans-
mitted or received data. A change of sf bit in the master device indi-
cates that the Twin Line controller slave device needs to process the
transmitted data sent by the master device. The Twin Line controller
changes rf bit in the slave device to acknowledge the execution of a
command.
Error messages in CAN bus
operation
All devices in the CAN bus receive a command simultaneously. If one of
the devices detects a transmission error, it sends an error message even
if it the message was not addressed to it and the slave device to which
it was addressed, has received the data correctly.
As a result of the error message, the master device re-sends the com-
mand. Recognition of a new or re-sent command is controlled by two bits
in the data framework:
The sf bit in the transmitted data
The rf bit in the received data
The sf bit/rf bit mechanism ensures that the controller does not exe-
cute the command a second time.
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CAN Bus Communication in the Fieldbus
CAN Bus 4-11
4.2.2 Function of sf and rf bits
When Fieldbus operation is started, the sf and rf bits are defined as
being at 0.
New command from master device The master devices user software marks a new command by switching
the sf bit.
Evaluation by slave device The controller compares bits sf and rf:
sf rf: command is new
sf = rf: command has already been executed
LOSS OF CONTROL
Do not establish Fieldbus communication unless the commu-
nication principle of sf-rf is completely understood.
Critical commands may not be executed because of
unchanged sf bit or invalid sf-rf-sf sequences.
Failure to follow this instruction can result in death or
serious injury or equipment damage.
WARNING
4-12 CAN Bus
Communication in the Fieldbus CAN Bus
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Fig. 4.7 Data exchange and synchronization with sf and rf bits
Response from the slave device If the command has been carried out, the controller switches over the rf
bit and sends the signal together with the response data back to the
master device.
If the controller receives a command which has already been carried
out, it sends an acknowledgment back to the master device together
with the latest status data.
Evaluation by the master device The master device receives confirmation from the controller by means of
rf=sf after the command has been carried out.
4.2.3 Command error bit cmderr
The command error bit is valid when the command has been acknowl-
edged.
cmderr=0: command has been successfully carried out
cmderr=1: a synchronous error has occurred
In the case of a synchronous error, the controller returns an error num-
ber errnum in bytes 7 and 8 of the received data, from which the cause
of the error can be determined. The error numbers are given in the chap-
ter on diagnostics and error correction in the manual.
Information on synchronous errors can be found in the chapter entitled
"Error handling" on page 7-1.
Controller Master device
sf=rf=0 rf=sf=0
sf rf
sf = rf
sf = rf
sf rf
1
0
sf
Execute
command
Execute
command
Acknowledge
Acknowledge
Acknowledge
New command
New command
Old command
rf
Transmitted data
Received data
rf = sf
rf=sf=1
rf=sf=1
rf: 0->1
1
1
1
.
.
.
rf=sf=0
sf: 0->1
sf: 1->0
sf: 1
Evaluate answer
Evaluate answer
Evaluate answer
rf = sf
rf: 1->0 0
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CAN Bus Communication in the Fieldbus
CAN Bus 4-13
4.2.4 Example of a positioning command
A relative positioning command is transmitted to the controller.
Fig. 4.8 Positioning command
The first command sets the speed, and the second initiates a positioning
process. The bytes mean:
Byte 1 (requestdata): send new command: switch over sf bit; write
access with bit 2 =1: 4h
Bytes 2-4: sub-index and index for the command:
05h:00 23h for PtP set speed PTP.v_target (35:5)
03h:00 23h for relative positioning PTP.p_relPTP (35:3)
Bytes 5-8 (commanddata): setting value for the command
00 00 00 38h: PtP speed, here 38h = 56 units
00 00 13 E4h: positioning path, here 13E4h = 5.092 units
Detailed examples on all operating modes of Twin Line controllers can
be found in the chapter entitled "Examples for Fieldbus operation" from
page 6-1.
04h 03h 00 23h 00 00 13 E4h
84h 05h 00 23h 00 00 00 38h
Byte 1 Byte 2 Bytes 3+4 Bytes 5-8
sf=1
rf=1
sf=0
rf=0
rf=0
Master
device
Slave
device
Received data
Received data
4-14 CAN Bus
Communication in the Fieldbus CAN Bus
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4.3 Action and control commands
The master can send two types of commands, control commands or
action commands. The controller reacts differently depending on the
type of command.
Control commands Control commands are carried out immediately and are completed once
the received data are sent back. For example, control commands are
used to change parameters or switch outputs.
Fig. 4.9 Carrying out a control command
If a command could not be correctly carried out, the controller sets the
command error bit cmderr to 1 and reports a synchronous error.
Action commands Action commands start a movement. The controller switches on the
appropriate operating mode, and loads the required parameters. It sig-
nals the start of the movement as confirmation of the command back to
the master device. For example, an action command can initiate a posi-
tioning process.
Fig. 4.10 Carrying out an action command
If an action was not able to be initiated correctly, the controller sets the
command error bit cmderr to 1, and signals a synchronous error.
Transmitted command
data with sf rf
cmderr = 0
?
no
yes
Command executed
Master device Slave device
Transmitted data
Received data
(acknowledge)
Synchronous
error
Process
command
Received
data framework
Transmitted data
framework
sf rf
?
no
yes
Acknowledge
data framework
Transmitted command
date with sf rf
cmderr = 0
?
no
yes
Command executed
Master device Slave device
Transmitted data
Received data
(acknowledge)
Synchronous
error
Process
command
Received
date framework
Received
date framework
sf rf
?
no
yes
Acknowledge
data framework
Action started
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CAN Bus Communication in the Fieldbus
CAN Bus 4-15
Monitoring the operating status The operating status and the completion of the movement command
must be continuously monitored by the master device via the status
word fb-statusword in the received data.
Fig. 4.11 Monitoring the operating status of the controller
Status bits Internally the controller administers the operating status for every oper-
ating mode via separate status bits. It only reports the status of the cur-
rent operating mode on the Fieldbus. The status bits have the following
meanings:
Bit 13, x_add_info: Signal dependent on operating mode
Bit 14, x_end: Processing status of operating mode
0: Processing running
1: Processing finished, motor stopped
Bit 15, x_err: Error status during processing
0: Error-free operation
1: Error has occurred
The information on the current operating mode can be used to evaluate
the status report for the specific operating mode. The current operating
mode is found in bits 0 to 4 ("mode") in "controldata".
The allocation of operating mode and status bits is shown in the follow-
ing table:
As soon as processing is initiated by an action command, bit 14 x_end
changes to 0. Once processing has been completed, bit 14 reverts to
1 thereby signalling clearance for further processing steps. The signal
change is suppressed if one process is followed immediately by another
in a different operating mode.
Operating mode mode x_add_info x_end x_err
Manual mode 1 0 manu_end manu_err
Referencing 2 0 ref_end ref_err
PtP positioning 3 Set position
reached
motion_end motion_err
Speed mode 4 Set speed
reached
vel_end vel_err
Electronic gear 5 0 gear_end gear_err
4-16 CAN Bus
Communication in the Fieldbus CAN Bus
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Fig. 4.12 Monitoring the execution of an action command
If bit 15 x_err changes to 1, an error has occurred which must be cor-
rected before processing can continue. The procedure for testing for an
asynchronous error or a warning is described in the chapter entitled
"Error handling" on page 7-1. For example, checking during processing
is only necessary if further dependent drives have to be stopped imme-
diately.
Changing operating modes The controller carry out further commands while it is executing an action
command, e.g. in order to change the set speed of a running positioning
process or switch operating modes. The command error bit cmderr
shows whether the command has been successfully carried out.
no
x_end = 1
?
yes
Master
device
Slave device
Received data
(acknowledge)
Acknowledge
data framework
Transmitted data
for dependent
axes
Processing
finished
Check for asynchronous
error and warning
Check for asynchronous
error and warning
Transmitted data
framework with sf = rf
Received
data framework
Action started
Command executed
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CAN Bus Communication in the Fieldbus
CAN Bus 4-17
4.4 Replacing devices
After replacing a slave device, the new device should perform in exactly
the same manner as the old one. To achieve this, the new device must
have the same parameter value settings.
In the case of IO_mode = 0, the device recognizes the values of the
Fieldbus parameters via the signal interface inputs when it starts up. In
the case of IO_mode 0, the Fieldbus parameters have to be set before-
hand via the HMI or TLCT software, otherwise no communication is pos-
sible with the device in the Fieldbus network.
If the default values of other parameters are to be changed, these values
can be stored in the master controller. They must be transmitted every
time the Twin Line controller starts up, e.g. in ReadyToSwitchOn
status.
4-18 CAN Bus
Communication in the Fieldbus CAN Bus
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CAN Bus Installation and set-up
CAN Bus 5-1
5 Installation and set-up
5.1 EMC
When cables are used in an electromagnetically charged environment,
EMC requirements must be taken into consideration when cables are
laid and connected.
EMC measures The following steps are necessary to ensure that the Fieldbus will work
without interference. They are in addition to the device-specific steps to
ensure EMC which can be taken from the controller manual.
To protect against interference, screens on digital cables are connected
at both ends. Voltage differences can lead to excessive current in the
screen, and must be prevented by the use of bonding lines. For cables
of up to 650 feet (200 m) in length, a cross section of 5 AWG (16 mm
2
)
is sufficient, but for longer cables 4 AWG (20 mm
2
) must be used.
5.1.1 Fieldbus cable installation
As a basic rule of cable layout, the Fieldbus cable must not be twisted,
stretched, squeezed or pinched.
For cabinet cabling, Fieldbus cables must be separated from all cables
carrying AC\DC voltage of more than 60 volts. A minimum distance of 8
inches (20cm) must be kept between the signal cables and power cables
having more than 60 volts. If the power cable is carrying a voltage above
230V, it has to be laid in a separate duct or pipe, keeping a distance of
at least 8 inches (20cm) from all other cables carrying between 60V and
230V.
For outdoor, underground installation, please make sure that the cables
are suitable for underground layout.
Please ensure that all cables can withstand the temperatures that the
cable will be exposed to.
Please consider necessary protective circuit with surge protection for
protection against lightning.
EMC measures Effect
Use cables with braided and foil screening. Deflect interference volt-
ages
Fieldbus cables can be laid in one cable duct with
signal wires and analog wires. But do not lay them
with AC or DC cables carrying over 60 V.
Avoid mutual interfer-
ence coupling
Use bonding lines in wide-area systems with differ-
ent voltage feeds and networks spanning more than
one building.
Deflect interference cur-
rents
Use fine-core bonding lines in order to shield from
even high-frequency interference current.
Protection from even
high-frequency interfer-
ence current
5-2 CAN Bus
Installation and set-up CAN Bus
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5.1.2 Grounding and shielding of systems with potential equalization
In order to ensure maximum electromagnetic compatibility, the bus
shieldings should form a continuous envelope and be connected to the
metal cases of the connected bus devices, if possible. Since the system
design requires multiple grounding of the bus cable shielding, correct
potential equalization is very important.
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CAN Bus Installation and set-up
CAN Bus 5-3
5.2 Installation
5.2.1 Installation and set-up of controller
Correct mechanical and electrical installation of the Twin Line controller
and successful setup are a prerequisite for its installation in the network.
Set the controller up in accordance with the manual. Please refer to the
Installation and Commissioning chapters of the Twin Line controller
manual for details. The Twin Line controller is then ready for use in the
network.
5.2.2 Address and baud rate settings
Up to 32 controllers can be addressed in a CAN bus network, and up to
127 in an extended network. The network address for a Twin Line con-
troller is preset to 127.
The baud rate is preset at 125 kbaud.
Setting address and baud rate There are two ways of defining address and baud rate. The Set-
tings.IO_mode parameter (29:31) can be used to set the controller up
for one or other of the two ways:
IO_mode = 0: Setting via signal interface
IO_mode = 1 or 2: Setting via parameters
When using the setting facility through the signal interface, the controller
interprets the switching states of inputs ADR_1 to ADR_64 as the net-
work address and the BAUD_1 and BAUD_4 inputs as the baud rate set-
ting. A description of possible pin assignments and settings for the
interface can be found in the chapter in the manual on connecting the
signal interface.
When setting address and baud rate via parameters, the address is
input locally in parameter M4.addrCan (24:24) with a hand-held oper-
ating unit, and the baud rate in parameter M4.baudCan (24:25).
The baud rate must be set to the same rate for all devices in the Field-
bus. The new address and baud rate is recognized only during power up
of 24 V.
UNINTENDED EQUIPMENT OPERATION
Unintended equipment operation may happen if address or baud
rate is changed during operation.
Failure to follow this instruction can result in death, serious
injury or equipment damage.
WARNING
5-4 CAN Bus
Installation and set-up CAN Bus
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5.2.3 Connecting the Twin Line controller
Twin Line controllers are equipped with the CAN-C module in slot M4 for
connection to a CAN bus network.
Module interface The CAN-C module is fitted with a sub-D plug and a sub-D socket, both
9-pole with UNC thread. Pin assignment is identical for both interface
connections.
Fig. 5.1 Fieldbus module interface connections with plug and socket.
For controllers with a hood, the cable must be led downwards from the
connection.
Cable specification Screened cable
Minimum cross section of signal wires: 25 AWG (0.14 mm
2
)
Twisted-pair cables
Screen to be earthed at both ends
Maximum length is dependent on number of devices, baud rate and
signal transmission times. The higher the baud rate, the shorter the
bus cable has to be.
Guideline: 131 ft. (40 m) at 1 Mbits/s, 1640 ft. (500 m) at 100 kbits/s
Display The LED on the CAN-C module lights for approximately 2 seconds when
Fieldbus data have been correctly received.
-
-
CAN_HIGH
GND
-
-
GND
CAN_LOW
-
1
5
9
6
-
6
2
7
3
-
GND
CAN_HIGH
-
-
-
CAN_LOW
GND
-
-
1
5
9
6
CAN-OK
Shield (ground)
Pin Signal Color
1)
Pairs Meaning I/O
1 - - 1 Not assigned -
6 GND Green 1 Earth -
2 CAB_LOW White 2 Data line, inverted I, O
7 CAN_HIGH Brown 2 Data line I, O
3 GND Grey 3 Earth -
8 - Pink 3 Not assigned -
4 - - - Not assigned -
9 - - - Not assigned -
5 - - - Not assigned -
1) Color details refer to the cable available as an accessory.
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CAN Bus Installation and set-up
CAN Bus 5-5
5.2.4 Termination
Fieldbus devices are connected in segments with a linear structure, con-
sisting of 32 master and slave devices. Every segment must be termi-
nated at both ends with an active bus terminator or a terminating resistor
of 120 . When using the Twin Line controllers network accessory
cable, termination can be effected by means of a switch in the connect-
ing plug to external bus devices.
Fig. 5.2 Termination of a bus segment via plug or terminator (T)
When there are more than 32 devices, individual segments are con-
nected by means of repeaters. Each segment must then be terminated
separately.
5-6 CAN Bus
Installation and set-up CAN Bus
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5.3 Set-up
5.3.1 Initiating network operation
Network operation with the Twin Line controller is started via the master
device. This can be a PLC or a PC with the corresponding software with
which the user can enter commands and read received data.
When the HMI hand-held operating unit is plugged into the Twin Line
controller, the user can watch transmitted and received data on the dis-
play in the 2.6 Fieldbus diagnostics menu.
Switch on the Twin Line controller.
Start network operation and test the network connection with a
command. For example, it is possible to read off the current position
of the motor through the Status.p_act parameter (31:6). Index is
1Fh, sub-index 6h:
Enter the following command:
80h 06h 001Fh 0000.0000h.
Response from the controller: 80h xxh 000xh 0000.0138h
This is the current position 138h=312 increments. The values of x
depend on the current operating status of the controller.
In order to test timeout functionality:
Clear error memory (use TLCT or HMI)
Enable timeout monitoring
Establish periodic connection to the controller
Check the periodic connection to the controller is functioning
Stop or switch off the master
Check in error memory for recognition of timeout situation (use
TLCT or HMI)
Please refer to section 4.2.1 for timeout monitoring details.
5.3.2 Troubleshooting
If no answer is received from the controller, check the following settings:
Is the controller switched on and master device started up for net-
work operation?
Cable connections mechanically sound?
Is the LED at the Fieldbus input of the controller lit? If not, either
network operation or the polling process are not working. The LED
shows data movement across the network interface.
Has the correct address been set on the controller?
Have the identifiers for transmitted and received data been correctly
calculated?
Has the baud rate been set at the same rate for master device and
controller?
Is the status display on the Twin Line controller showing 3, 4 or
6 without blinking? If not, there is an operating fault on the control-
ler. Information on the causes for errors and on ways to correct
them can be found in the manual.
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CAN Bus Examples for Fieldbus operation
CAN Bus 6-1
6 Examples for Fieldbus operation
6.1 Structure of program examples
Overview The program examples show practical applications for the use of Twin
Line controllers in networks. The following elements are shown:
Description of task
Initial conditions
Commands required in transmitted data framework
Response of the controller in receiving
Possible limitations on command execution
In order to be able to understand the examples, the following details are
needed:
Operating concept and functional scope of the Twin Line controller
Fieldbus protocol and connection to master controller
Functional scope of Fieldbus profile
Fieldbus manuals are used for different device types.
Some commands are not available for all types. In many
examples information under Usable device types can be
found on the available functions for that device. If there isnt
any information specified for a command, then the
examples can be carried out with all device types.
Transmitted and received data Send and receive data are shown in hexadecimal notation.
The master command is given in each case. The response of the con-
troller after carrying out the command correctly, is only shown if this is
necessary for a further description. Otherwise positive acknowledgment
of the command is assumed.
Transmit data
Fig. 6.1 Transmit data coding
Object Req Six Index Data Description
TxD 28.1 Commands.driveCtrl 84h 01h 001Ch 0000 0002h Requirement: power amplifier switch
on: Set bit 1
ID for transmit process
(Master -> Controller)
Enquiry
Sub-index in hex
Index in Hex
Para-
meter
Parameter
group
Sub-index
Index
Index Data Description Six Req Object
TxD 28.1 Commands.driveCtrl 84h 01h 001Ch 0000 00002h Request for amplifier to be switched on: :
Set bit 1
6-2 CAN Bus
Examples for Fieldbus operation CAN Bus
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The data type of the value written can be taken from the value range
column in the parameter description of the manual. When an INT16 or
UINT16 value is transmitted, the value is stored in bytes 7 and 8 0 must
be entered in bytes 5 and 6.
Receive data
Fig. 6.2 Receive data coding
The data type of the value written can be taken from the value range
column in the parameter description in the manual. When an INT16 or
UINT16 value is read, the value is stored in bytes 7 and 8 and bytes 5
and 6 show 0. The error number for a synchronous fault message is
stored as a UINT16 value, and in responsedata a fault is designated by
cmderr=1.
Irrelevant values Values which are not relevant for the example are shown by an x.
Value units If read or write data are given in user-defined units [usr], they must be
converted using normalization factors. Information on this can be found
in the manual in the chapter entitled "Using operating functions" under
"Normalization" on page 6-27.
Acknowledgment bits In all examples, the value 0 is assumed before the first transmit com-
mand for acknowledgment bits sf and rf. The first command must
therefore transmit with sf = 1. This also applies when the description of
a subject is split across several examples. A new command can be rec-
ognized by the change in level.
Data framework In the examples only the 8 byte-sized data framework for Twin Line con-
trollers is shown. The control bytes specific to the Fieldbus must be
added by the master devices user program in accordance with the Field-
bus protocol.
Manual The examples are designed to complement the function descriptions in
the manuals. The basic way in which operating modes and functions
work are described in the manual. A list of all parameters which apply to
the operating modes and functions are also available in the manual.
The number format of the parameter values in a Fieldbus
command can be taken from the group overview in the
chapter entitled 'Parameters' in the manual.
Example: the conversion factor from current strength to input values for
the parameter, I_max (18:2) is: 100=1Apk. If 100 is entered, a current of
1Apk is set.
Res Ctrl fb-stat Data Description
RxD 80h xxh xxx4h xxxx xxxxh Status transition not yet effected
cos=4, ReadyToSwitchOn
ID for receive process
(controller - > master)
Responsedata
Controldata
Fb-statusword
fb-stat Data Description Ctrl Res
RxD 80h xxh xxx4h xxxx xxxxh Status transition not yet completed
cos=4, "ReadyToSwitchOn"
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CAN Bus Examples for Fieldbus operation
CAN Bus 6-3
6.2 Operating status
The requirements for starting an operating mode are operational readi-
ness and correct initialization of the controller.
Detailed information on the controllers operating states and a status
diagram numbering the individual states can be found in the manual for
the Twin Line controller under Operating displays and transitions.
6.2.1 Checking the operating status
The operating status on the Twin Line controller is displayed by the 7-
segment display. The controller is ready for operation when the display
is showing 6.
The operating status is evaluated over the Fieldbus by means of the first
three bits in the status word fb_statusword. The status word is trans-
mitted with every received data set.
Fig. 6.3 Displaying the operating status of the controller
Operating states 0..3, 5, 8 and 9 are transitional states in which the con-
troller does not dwell in if it is working correctly.
If the controller remains in operating status 1, 2 or 3 when the 24 V
power supply is switched on, then a fault has occurred during
initialization. Help in correcting the fault can be found in the Controllers
User Manual in the chapter titled Installation, under Installation
Troubleshooting.
Bit 3..0
cos
x x x x x x x x Fb-statusword: x x x x 0 0 0 0
Byte 4 Byte 3
Bits 3..0 Operating status Meaning
- - 24-V switched on
...0001 1 - Start Initialization of controllers electronics
...0010 2 - Not ready to switch on Amplifier is not ready to switch on.
...0011 3 - Switch on disabled Amplifier can not be switched on.
...0100 4 - Ready to switch on Amplifier is ready to switch on.
...0101 5 - Switched on Amplifier is switched on.
...0110 6 - Operation enable Controller is working in the operating
mode set.
...0111 7 - Quick Stop active Quick stop is executed.
...1000
...1001
8 - Fault reaction active
9 - Fault
Fault reaction has been activated.
Fault display
6-4 CAN Bus
Examples for Fieldbus operation CAN Bus
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6.2.2 Changing the operating status
The operating status of the Twin Line controller is transmitted in bits
cos in fb-statusword. The coding corresponds to the status display on
the controller.
Depending on the status of the controller, the operating status can be
changed by means of Fieldbus commands. For example, Ready-
toSwitchOn status can only be activated if the following conditions are
met:
The controller has started up after the 24 V power supply was acti-
vated
DC bus voltage activated
No fault present
Changes of status in the controller are activated by means of the Com-
mands.driveCtrl parameter (28:1). The value is always 0 with the result
that write access to a bit automatically triggers an edge change, 0 1.
Switching on the power amplifier Switch on the power amplifier.
The controllers 7 segment display should read 4 indicating that the
controller is in ReadyToSwitchOn state and that the parameter settings
in the controller are correct.
Bits 3..0 Control word Meaning
0 0 0 1 Disable Switch off amplifier
0 0 1 0 Enable Switch on amplifier
0 1 0 0 Quick-Stop Trigger halt through quick stop
1 0 0 0 Fault Reset Acknowledge fault signal
UNINTENDED EQUIPMENT OPERATION
Commands entered in this parameter may be executed imme-
diately upon receipt by the drive controller.
Before sending any commands, ensure that the machine is
clear and ready for motion.
Failure to follow these instructions can result in death or
serious injury.
WARNING
Object Req Six Index Data Description
TxD 28.1 Commands.driveCtrl 84h 01h 001Ch 0000 0002h Requirement power amplifier switch
on: Set bit 1
Res Ctrl fb-stat Data Description
RxD 80h xxh xxx4h xxxx xxxxh Status transition not yet effected:
cos=4, ReadyToSwitchOn
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CAN Bus Examples for Fieldbus operation
CAN Bus 6-5
If the status transition to the OperationEnable status has been suc-
cessful, the controller signals the following:
As long as the OperationEnable status has not been reached, internal
monitoring signals bit 5 (FltSig) and bit 15 (x_err) are activated in the fb-
statusword.
Switching off the power amplifier Switch off the power amplifier.
The controller must first be in the OperationEnable status, i.e. 6 must
be displayed on the 7 segment display.
If the status transition to the ReadyToSwitchOn status has been suc-
cessful, the controller signals the following:
As soon as the OperationEnable status has been left, internal moni-
toring signals in bi t5 (FltSig) and bit15 (x_err) are activated in the fb-
statusword.
Res Ctrl fb-stat Data Description
RxD 80h xxh xxx6h xxxx xxxxh Status transition effected: cos=6,
OperationEnable
Status fb-statusword x_err
(bit 15)
fb-statusword FltSig
(bit 5)
OperationEnable 1 1
= OperationEnable 0 0
Object Req Six Index Data Description
TxD 28.1 Commands.driveCtrl 84h 01h 001Ch 0000 0001h Request to switch off power amplifier:
Set bit 0
Res Ctrl fb-stat Data Description
RxD 80h xxh xxx6h xxxx xxxxh Status transition not yet effected:
cos=6, OperationEnable
Res Ctrl fb-stat Data Description
RxD 80h xxh xxx4h xxxx xxxxh Status transition effected: cos=4,
ReadyToSwitchOn
Status fb-statusword x_err
(bit 15)
fb-statusword FltSig
(bit 5)
OperationEnable 1 1
= OperationEnable 0 0
6-6 CAN Bus
Examples for Fieldbus operation CAN Bus
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Interruption to movement by
software stop
Interrupt a current positioning operation by means of a software
stop.
The following conditions must be met:
The controller must be in OperationEnable status, see page 6-4.
All the necessary settings must have been made via the functions,
see page 6-24.
All the necessary settings must have been made for the operating
modes, see page 6-12.
If the QuickStopActive status has been successfully activated, the fol-
lowing message is sent:
As soon as the drive has stopped, the following message is generated:
If the drive is at standstill, the interruption status can be cancelled by
means of FaultReset see page 6-35.
Acknowledging fault message How to acknowledge a fault message can be found under "Resetting
faults (FaultReset)" on page 6-35.
Object Req Six Index Data Description
TxD 28.1 Commands.driveCtrl 84h 01h 001Ch 0000 0004h Request for software stop: Set bit 2
Res Ctrl fb-stat Data Description
RxD 80h xxh 8027h xxxx xxxxh In fb-statusword:
x_err=1,FltSig=1,cos=7: QuickSto-
pActive
Res Ctrl fb-stat Data Description
RxD 80h xxh C027h xxxx xxxxh In fb-statusword:
x_err=1,x_end=1,FltSig=1,cos=7:
QuickStopActive
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CAN Bus Examples for Fieldbus operation
CAN Bus 6-7
6.3 Setting processing parameters
6.3.1 Non operating mode specific processing parameters
The various settings for non-specific processing parameters are inde-
pendent of the operating mode which the user sets. Non operating mode
specific parameters are assigned to one of the following parameter
groups:
Settings
Commands
Motors
CtrlBlock1, CtrlBlock2
Motion
Teach
List
List1Data0..List1Data63, List2Data0..List2Data63
Capture
I/O
M1..M4
ErrMem0..ErrMem19
For further information, please refer to the functions of the controller
chapter of the controller manual.
Object Req Six Index Data Description
TxD 28.1 Commands.driveCtrl 84h 01h 001Ch 0000 0001h Disable amplifier
6-8 CAN Bus
Examples for Fieldbus operation CAN Bus
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6.3.2 Operating mode specific processing parameters
The various settings for operating mode specific processing parameters
depend on the operating mode which the user sets. Non operating mode
specific parameters are assigned to one of the following parameter
groups:
Manual
VEL
PTP
Gear
Home
Record
RecoData0..RecoData49
Setting the speed for fast manual
movement
Set the speed for fast manual movement to 500 usr = 01F4h usr.
Initially, the set speed must not be greater than the entry in
Motion.v_target0. The controller must be in Operation Enable status
(see chapter "Changing the operating status" on page 6-4) and the
Manual.n_fastMan parameter must be available on the Twin Line con-
troller.
The speed for fast manual movement can be set before initiating the
movement or while it is taking place.
Object Req Six Index Data Description
TxD 41.5 Manual.n_fastMan 84h 05h 0029h 0000 01F4h Setting fast manual movement speed
500 usr = 1F4h usr
T
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CAN Bus Examples for Fieldbus operation
CAN Bus 6-9
6.4 Reading device information
The following actions are carried out after write access:
The current processing value is shown.
The data to be shown in the read data if they are accessed again,
are defined. These data continue to be shown until new values are
determined as a result of them being accessed again.
A parameter value can be read and the data type it corresponds to can
be found in the description of parameters in Chapter 12 of the Twin Line
controller manual. All values in the parameter list in the R/W column
marked with R can be read. The data type can be found in the value
range column.
6.4.1 Reading parameter settings
The current setting of a processing value can read from the controller by
means of a read value.
Reading the speed for fast manual
movement
Read the current speed setting for fast manual movement.
The read value must be available on the controller and in the current sta-
tus.
If a 16-bit value is accessed, the value read in bytes 7 and 8, and the
value of bytes 5 and 6 shall read as 0.
Object Req Six Index Data Description
TxD 41.5 Manual.n_fastMan 80h 05h 0029h 0000 0000h Requesting the speed [usr] for fast
manual movement
Res Ctrl fb-stat Data Description
RxD 80h xxh xxx6h 0000 00B4h Speed in bytes 5 to 8: B4h = 180 usr
6-10 CAN Bus
Examples for Fieldbus operation CAN Bus
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6.4.2 Reading status information
There are various read values available in the Status parameter group,
with the help of which the processing status can be read off the control-
ler.
Status information can be dependent on or independent of the operating
mode. Status information which is not dependent on the operating mode
is communicated in controldata and fb-statusword, and the coding cor-
responds to the assignment of the Status.driveStat parameter.
Status information independent of
operating mode
For example, find out the motor speed, Status.n_act [r.p.m.], and set it as
a cyclical read value.
The read value must be available on the controller and in the current sta-
tus.
If a 16-bit value is accessed, it will be found that the value read in bytes
7 and 8, and the value of bytes 5 and 6 are 0.
Status information dependent on
operating mode
Every operating mode has its own acknowledgment object. The status
information for PTP positioning, for example, is provided by the
PTP.StatePTP parameter.
Request detailed status information on the PTP positioning operat-
ing mode.
The read value must be available on the controller and in the current sta-
tus.
If a 16-bit value is accessed, it will be found that value read in bytes 7 and
8, and the value of bytes 5 and 6 are 0.
Object Req Six Index Data Description
TxD 31.9 Status.n_act 80h 09h 001Fh 0000 0000h Requesting the actual speed in [r.p.m.]
Res Ctrl fb-stat Data Description
RxD 80h xxh xxx6h 0000 03E8h Actual speed in bytes 7 and 8:
3E8h=1000 r.p.m.
Object Req Six Index Data Description
TxD 35.2 PTP.StatePTP 80h 02h 0023h 0000 0000h Requesting status information on PTP
positioning
Res Ctrl fb-stat Data Description
RxD 80h xxh 6xx6h 0000 6000h Acknowledgment in bytes 7 and 8:
motion_end and set position
reached active
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CAN Bus Examples for Fieldbus operation
CAN Bus 6-11
6.5 Processing inputs/outputs
Depending on the setting of Settings.IO_mode, certain inputs and out-
puts are free for the user to use. Further information can be found in the
chapter entitled Connection to the signal interface in the manual.
Reading inputs Read the signal level at input word 0.
Writing to outputs Set output Q0 to high and outputs Q1..Q4 to low.
The processing state is that Settings.IO_mode does not equal 2:
inputs / outputs have been assigned.
Write access is only possible to the free outputs Q0..Q4.
Reading the status of outputs Find out the current signal level at outputs.
In the received data, bi t0 to bi t4 correspond to outputs Q0 to Q4, bit 5
to output ACTIVE_CON and b it6 to output TRIGGER/ALARM.
UNINTENDED EQUIPMENT OPERATION
Commands entered in this parameter may be executed imme-
diately upon receipt by the drive controller.
Before sending any commands, ensure that the machine is
clear and ready for motion.
Failure to follow these instructions can result in death or
serious injury.
WARNING
Object Req Six Index Data Description
TxD 33.1 I/O.IW0_act 80h 01h 0021h 0000 0000h Requesting the signal level at input
word 0
Res Ctrl fb-stat Data Description
RxD 80h xxh xxxxh 0000 000Fh High level on inputs I0..I3
Object Req Six Index Data Description
TxD 34.1 I/O.QW0_act 84h 01h 0022h 0000 0001h Output Q0=high, outputs Q1..Q4=low
Object Req Six Index Data Description
TxD 34.1 I/O.QW0_act 80h 01h 0022h 0000 0000h Requesting the signal level at output
word 0
Res Ctrl fb-stat Data Description
RxD 80h xxh xxx6h 0000 0036h Outputs Q1, Q2, Q4 and
ACTIVE_CON are set.
6-12 CAN Bus
Examples for Fieldbus operation CAN Bus
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6.6 Use of operating modes
The Twin Line controller is capable of working in different operating
modes. Processing values specific to the operating mode and others
which are not specific to it, are available for configuring the processing
sequence.
The operating modes can be determined via certain parameters, and
the processing status in relation to all operating modes or specific to
one.
The status of a processing operation or movement can be read off from
x_err and x_end in fb-statusword:
If an asynchronous fault occurs during processing, x_err is immedi-
ately set to 1 (bit15) and the drive stopped. Because the drive stops,
x_end is set to 1 (bi t14).
If 2:I/O assigned has been set via Settings.IO_mode,
input AUTOM must equal 1 to enable access to the
operating modes.
6.6.1 Point-to-Point Positioning
Device types which can be used TLC5xx
A pallet is to be moved two stations along a continuous conveyor at a
speed of 200 usr (e.g. 200 r.p.m.). All values are given in user-defined
units [usr], as the real values depend on the normalization factor used.
Fig. 6.4 Moving the pallet
x_err x_end Processing status
0 0 Processing/movement active and no fault
0 1 Processing/movement completed and no fault
1 0 Processing/movement active and fault detected
1 1 Processing/movement completed and fault detected
UNINTENDED EQUIPMENT OPERATION
Commands entered in this parameter may be executed imme-
diately upon receipt by the drive controller.
Before sending any commands, ensure that the machine is
clear and ready for motion.
Failure to follow these instructions can result in death or
serious injury.
WARNING
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CAN Bus Examples for Fieldbus operation
CAN Bus 6-13
The first station is 324 usr (e.g. 324 mm) away from the reference posi-
tion 0. The station is reached by means of an absolute positioning pro-
cess. The second station is a further 500 usr away and is reached by
means of relative positioning.
The journey to position 2 is interrupted by a STOP signal. After the fault
has been corrected, the interrupted journey is to be resumed and com-
pleted.
The following conditions must be met in order to be able to carry out this
task:
All the necessary function settings must have been made, see page
6-24.
The 0 position must be defined, see page 6-18.
There must be no homing movement active.
Carrying out absolute positioning Set the absolute motor movement to position +324 usr with a set
speed of 200 usr.
The controller must be in the OperationEnable status, see page 6-4.
The processing status can be seen from x_end in fb-statusword. When
the processing operation or movement has been completed, x_end
changes from 0 to 1.
The set speed can be changed during the movement by accessing
PTP.v_target.
Carrying out relative positioning Initiate a relative motor movement by +500 usr at the set speed.
The controller must be in the OperationEnable status, see page6-4.
Object Req Six Index Data Description
TxD 35.5 PTP.v_target 84h 05h 0023h 0000 00C8h Setting the set speed to 200usr =
00C8h usr
Object Req Six Index Data Description
TxD 35.1 PTP.p_absPTP 04h 01h 0023h 0000 0144h Start of absolute positioning to
324 usr = 0144h usr
Res Ctrl fb-stat Data Description
RxD 00h x3h 0006h xxxx xxxxh Motor movement active
Res Ctrl fb-stat Data Description
RxD 00h 2xh 6xx6h xxxx xxxxh Motor movement completed
Object Req Six Index Data Description
TxD 35.3 PTP.p_relPTP 84h 03h 0023h 0000 01F4h Start of relative positioning by
+500 usr = 01F4h usr
Res Ctrl fb-stat Data Description
RxD 80h x3h 0006h xxxx xxxxh Motor movement active
6-14 CAN Bus
Examples for Fieldbus operation CAN Bus
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The processing status can be seen from x_end in fb-statusword. When
the processing operation or movement has been completed, x_end
changes from 0 to 1.
The set speed can be changed during the movement by accessing
PTV.v_target.
Completing interrupted movement Complete the movement interrupted by the STOP signal.
The following conditions must be met in order to be able to resume and
complete the interrupted movement:
PTP positioning has been interrupted by STOP.
The controller is in the QuickStopActive status.
The cause of the fault has been corrected, i.e. the STOP signal is
no longer active.
The drive must first be changed to the OperationEnable status by
means of FaultReset, see page 6-35.
The processing status can be taken from x_end in fb-statusword.
When the processing operation or movement has been completed,
x_end changes from 0 to 1.
The set speed can be changed during the movement by accessing
PTP.v_target.
Res Ctrl fb-stat Data Description
RxD 80h 23h 6006h xxxx xxxxh Motor movement completed
Object Req Six Index Data Description
TxD 35.4 PTP.continue 84h 04h 0023h 0000 0000h Initiating resumption of interrupted
positioning operation
Res Ctrl fb-stat Data Description
RxD 80h 23h 0006h xxxx xxxxh Motor movement active
Res Ctrl fb-stat Data Description
RxD 80h 23h 6006h xxxx xxxxh Motor movement completed
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CAN Bus Examples for Fieldbus operation
CAN Bus 6-15
6.6.2 Speed mode
Device types which can be used TLC5xx
Set the speed to 2000 usr - the user wants to monitor whether the
speed has been reached.
Use the set speed to bring the drive to a halt and make sure that the
the movement has been completed.
All the necessary settings must have been made via the functions,
see page 6-24.
The controller is in the OperationEnable status, see page 6-4.
There is no homing movement active.
Setting the speed:
x_add_info in fb-statusword can be used to check whether the set
speed has been reached. When the set speed has been attained,
x_add_info changes from 0 to 1.
Bringing the drive to a standstill:
The processing status can be taken from x_end in fb-statusword.
When the processing operation or movement has been completed,
x_end changes from 0 to 1.
UNINTENDED EQUIPMENT OPERATION
Commands entered in this parameter may be executed imme-
diately upon receipt by the drive controller.
Before sending any commands, ensure that the machine is
clear and ready for motion.
Failure to follow these instructions can result in death or
serious injury.
WARNING
Object Req Six Index Data Description
TxD 36.1 VEL.velocity 84h 01h 0024h 0000 07D0h Setting the speed: +2000 usr =
07D0h usr
Res Ctrl fb-stat Data Description
RxD 80h x4h 2006h xxxx xxxxh Motor movement active, set speed
reached
Object Req Six Index Data Description
TxD 36.1 VEL.velocity 04h 01h 0024h 0000 0000h Setting the speed: 0 usr = 0h usr
Res Ctrl fb-stat Data Description
RxD 00h x4h 6006h xxxx xxxxh Motor movement completed
6-16 CAN Bus
Examples for Fieldbus operation CAN Bus
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6.6.3 Electronic Gear
Device types which can be used TLC5xx
Processing reference pulses Apply the gear ratio of 7/5 to pulses arriving at the guidance sensor.
Only take those pulses into account which are detected after the
gear has been activated (immediate synchronization).
Correct the gear ratio to 8/5 during operations.
Set the gear to Disable status, and wait until the drive has
stopped.
All the necessary settings must have been made via the functions,
see page 6-24.
The controller is in the OperationEnable status, see page 6-4.
There is no homing movement active.
Applying gear ratio 7/5 to pulses:
Gear processing is now active.
Correcting gear ratio to 8/5:
UNINTENDED EQUIPMENT OPERATION
Commands entered in this parameter may be executed imme-
diately upon receipt by the drive controller.
Before sending any commands, ensure that the machine is
clear and ready for motion.
Failure to follow these instructions can result in death or
serious injury.
WARNING
Object Req Six Index Data Description
TxD 38.8 Gear.denGear 84h 08h 0026h 0000 0005h Gear ratio denominator = 5
Object Req Six Index Data Description
TxD 38.7 Gear.numGear 04h 07h 0026h 0000 0007h Gear ratio numerator = 7 allows the
denominator to be adopted.
Object Req Six Index Data Description
TxD 38.1 Gear.startGear 84h 01h 0026h 0000 0001h Starting gear processing with immedi-
ate synchronization (command-
data=1)
Object Req Six Index Data Description
TxD 38.7 Gear.numGear 04h 07h 0026h 0000 0008h Gear ratio numerator = 8 denominator
is retained.
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CAN Bus Examples for Fieldbus operation
CAN Bus 6-17
Set gear to Disable status and wait until drive has stopped:
The processing status can be taken from x_end in fb-statusword.
When the processing operation or movement has been completed,
x_end changes from 0 to 1.
The new gear ratio is activated when the numerator is transmitted.
There are various setting options available in parameter group Gear for
processing the operating mode.
Superimposing PTP offset
positioning
Correct the gear output position by a relative offset of -100 inc with
an offset positioning set speed of 200 r.p.m.
All the necessary settings must have been carried out via the func-
tions, see page 6-24.
The controller is in OperationEnable status, see page 6-4.
There is no homing movement active.
Gear processing is active.
Object Req Six Index Data Description
TxD 38.1 Gear.startGear 84h 01h 0026h 0000 0000h Deactivating gear processing (com-
manddata=0)
Res Ctrl fb-stat Data Description
RxD 80h x5h 0006h xxxx xxxxh Motor movement active
Res Ctrl fb-stat Data Description
RxD 80h x5h 4006h xxxx xxxxh Motor movement completed
Object Req Six Index Data Description
TxD 39.5 Gear.n_tarOffs 84h 03h 0027h 0000 00C8h Setting the offset positioning speed to
200 r.p.m. = 00C8h r.p.m.
Object Req Six Index Data Description
TxD 39.3 Gear.p_relOffs 04h 03h 0027h 0000 0064h Starting relative offset positioning by
100 inc = 64h inc
Object Req Six Index Data Description
TxD 39.2 Gear.StateOffs 80h 02h 0027h 0000 0000h Request: Acknowledgment of offset
positioning
Res Ctrl fb-stat Data Description
RxD 80h x6h xxx6h 0000 0000h Acknowledgment in bytes 7 and
8:offset_motion_end = 0,offset posi-
tion reached = 0.offset processing
running.
6-18 CAN Bus
Examples for Fieldbus operation CAN Bus
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The processing status of the offset positioning operation is available in
the read data via offset_motion_end. When offset positioning has
been completed, offset_motion_end changes from 0 to 1.
The set speed of the offset movement can be changed during the move-
ment by accessing Gear.n_tarOffs.
There are various setting options available in the parameter group
Gear for processing the PTP offset positioning operation.
6.6.4 Homing
In order to be able to carry out the examples on homing, the following
conditions must be met:
All the necessary settings must have been carried out via the func-
tions, see page 6-24.
The controller is in OperationEnable status, see page 6-4.
There is no homing movement active.
Dimension setting Set the current drive position to a value of 1000 usr. The value
serves as a reference point for further movements.
For this task the drive must be at standstill.
Dimension setting is carried out as soon as the controller is called up.
x_end and x_err in fb-statusword can be used to check whether it has
been carried out successfully.
Res Ctrl fb-stat Data Description
RxD 80h x6h xxx6h 0000 6000h Acknowledgment in bytes 7 and 8:
offset_motion_end = 1,offset position
reached = 1.offset processing com-
pleted.
UNINTENDED EQUIPMENT OPERATION
Commands entered in this parameter may be executed imme-
diately upon receipt by the drive controller.
Before sending any commands, ensure that the machine is
clear and ready for motion.
Failure to follow these instructions can result in death or
serious injury.
WARNING
Object Req Six Index Data Description
TxD 40.3 Home.startSetp 84h 03h 0028h 0000 03E8h Dimension setting position +1000usr
= 03E8h usr
Res Ctrl fb-stat Data Description
RxD 80h x2h 4006h xxxx xxxxh Dimension setting successfully carried
out
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CAN Bus Examples for Fieldbus operation
CAN Bus 6-19
After referencing has been successfully carried out, the ref_ok bit in
controldata is set to 1.
Carrying out a homing movement Carry out a homing movement in a negative direction to the addi-
tional reference switch. The search run to the switch is to be made
at a speed of 500 usr.
The processing status can be taken from x_end in fb-statusword.
When the processing operation or movement has been completed,
x_end changes from 0 to 1.
After homing has been successfully carried out, the ref_ok bit in con-
troldata is set to 1.
There are various setting options available in the parameter group
Home for processing the operating mode.
Object Req Six Index Data Description
TxD 40.4 Home.v_Home 84h 04h 0028h 0000 01F4h Speed of search run to reference
switch: 500 usr = 01F4h usr
Object Req Six Index Data Description
TxD 40.1 Home.startHome 04h 01h 0028h 0000 0003h Starting homing movement to the
additional reference switch in a nega-
tive direction
Res Ctrl fb-stat Data Description
RxD 00h x2h 0006h xxxx xxxxh Homing movement active
Res Ctrl fb-stat Data Description
RxD 00h x2h 4006h xxxx xxxxh Homing movement completed
6-20 CAN Bus
Examples for Fieldbus operation CAN Bus
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6.6.5 Manual movement
There are two different movement profiles available for manual move-
ments. Profiles can be selected by means of Manual.typeMan.
Initiate a classic manual movement in a positive direction of rotation
with a set slow sense of rotation. Then change the values to enable
a classic manual movement to be carried out in a positive direction
of rotation at a fast speed.
Terminate the manual movement and check whether the movement
has been completed.
In order to be able to carry out the example, the following condition must
be met:
All the necessary settings must have been made via the functions,
see page 6-24.
The controller is in OperationEnable status, see page 6-4.
There is no homing movement active.
Carrying out a manual movement and changing the speed:
Complete manual movement and check for standstill:
The processing status can be taken from x_end in fb-statusword.
When the processing operation or movement has been completed,
x_end changes from 0 to 1.
UNINTENDED EQUIPMENT OPERATION
Commands entered in this parameter may be executed imme-
diately upon receipt by the drive controller.
Before sending any commands, ensure that the machine is
clear and ready for motion.
Failure to follow these instructions can result in death or
serious injury.
WARNING
Object Req Six Index Data Description
TxD 41.1 Manual.startMan 84h 01h 0029h 0000 0001h Selection: positive direction of rota-
tion, slow speed (Manual.n_slowMan)
Object Req Six Index Data Description
TxD 41.1 Manual.startMan 04h 01h 0029h 0000 0005h Selection: positive direction of rota-
tion, fast speed (Manual.n_fastMan)
Object Req Six Index Data Description
TxD 41.1 Manual.startMan 84h 01h 0029h 0000 0000h Selection: no direction of rotation, i.e.
complete manual movement
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CAN Bus Examples for Fieldbus operation
CAN Bus 6-21
There are various option settings available in the parameter group Man-
ual for processing the operating mode.
6.6.6 Data set operation
The movement data for the Data set operation operating mode are
stored in data set memories, RecoData0..RecoData49.
RecoData0.TypeReco can be used to choose between PTP Set and
VEL Set; data set operation of the selected type can be initiated via
Reco.startReco.
The following examples provide a description of the sequence for setting
up the PTP data set, initiating data set operation and resuming an inter-
rupted data set operation via Record.continue.
All the necessary settings must have initially been made via the func-
tions, see page 6-24.
Device types which can be used TLC4xx
Setting PTP data sets Set the data set data for the PTP data set.
Set data set 15 with the following processing values:
Dimension system: relative
Set position: 1000 usr
Set speed: 300 usr
Ramp selection: 2 (settings in Record.UpRamp2 and
Record.DownRamp2)
All ramp parameters must first be configured in Record.UpRamp2 and
Record.DownRamp2.
Setting the data set parameters for the PTP data set:
Res Ctrl fb-stat Data Description
RxD 80h x4h 6006h xxxx xxxxh Manual movement completed
UNINTENDED EQUIPMENT OPERATION
Commands entered in this parameter may be executed imme-
diately upon receipt by the drive controller.
Before sending any commands, ensure that the machine is
clear and ready for motion.
Failure to follow these instructions can result in death or
serious injury.
WARNING
Object Req Six Index Data Description
TxD 1000.1 RecoData0.TypeReco 84h 01h 03E8h 0000 0001h Select: PTP-data set
6-22 CAN Bus
Examples for Fieldbus operation CAN Bus
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Processing values in data set 15:
Initiating PTP data set operation Activate the PTP data set 15, and check the movement sequence.
In order to be able to carry out the example, the following conditions
must be met:
The controller is in OperationEnable status, see page 6-4.
The data set data have been set.
The processing status can be taken from x_end in fb-statusword.
When the processing operation or movement has been completed,
x_end changes from 0 to 1.
Complete interrupted data set
operation
Complete data set operation interrupted by STOP signal.
In order to be able to resume and complete an interrupted data set oper-
ation, the following conditions must be set:
The data set operation has been interrupted by STOP.
The controller is in QuickStopActive status.
The cause of the fault has been corrected, i.e. the STOP signal is
no longer active.
The drive must first be put into OperationEnable status by means of
FaultReset, see page 6-35.
Object Req Six Index Data Description
TxD 1015.2 RecoData15.PosSys-
tem
04h 02h 03F7h 0000 0002h Data set 15, selection of dimension
system: relative
Object Req Six Index Data Description
TxD 1015.3 RecoData15.PosReco 84h 03h 03F7h 0000 03E8h Data set 15, selection of set position:
1000 usr = 03E8h usr
Object Req Six Index Data Description
TxD 1015.4 RecoData15.VelReco 04h 04h 03F7h 0000 012Ch Data set 15, selection of set speed:
300 usr = 012Ch usr
Object Req Six Index Data Description
TxD 1015.5
RecoData15.RmpChoice
84h 05h 03F7h 0000 0002h Data set 15, ramp selection: 2
Object Req Six Index Data Description
TxD 45.1 Record.startReco 84h 01h 002Dh 0000 000Fh Initiating data set 15
Res Ctrl fb-stat Data Description
RxD 80h x7h 0006h xxxx xxxxh Motor movement active
Res Ctrl fb-stat Data Description
RxD 80h 27h 6006h xxxx xxxxh Motor movement completed
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CAN Bus Examples for Fieldbus operation
CAN Bus 6-23
The processing status can be taken from x_end in fb-statusword.
When the processing operation or movement has been completed,
x_end changes from 0 to 1.
Object Req Six Index Data Description
TxD 45.17 Record.continue 84h 11h 002Dh 0000 0000h Initiating resumption of interrupted
data set operation
Res Ctrl fb-stat Data Description
RxD 80h x7h 0006h xxxx xxxxh Motor movement active
Res Ctrl fb-stat Data Description
RxD 80h x7h 6006h xxxx xxxxh Motor movement completed
6-24 CAN Bus
Examples for Fieldbus operation CAN Bus
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6.7 Using operating functions
6.7.1 List control
The processing data for the list control function are stored in list data
memories L1Data0..L1Data63 (list 1) or L2Data0..L2Data63 (list 2).
L1Data0.typeList or L2Data0.typeList can be used to choose
between Pos-Signal list and Speed list. List processing can be initi-
ated via List.startList.
The following example describes the sequence for setting up a position/
signal list on list 1, and initiation of list processing with monitoring of the
processing status.
Fig. 6.5 Positioning with position / signal list
All the necessary settings must have initially been made by the functions
that are described in this chapter, Using operating functions.

Graph (Fig.
6.5) refer-
ence point
Number of the list
1100:x...1163:x
Listentype 1xxx:1 Position 1xxx:2 Triggersignal
1xxx:3
Speed 1xxx:4
0 1100 1 10 0 0
1 1101 1 50 1 0
2 1102 1 120 0 0
3 1103 1 200 1 0
4 1104 1 300 0 0
5 1105 1 470 1 0
6 1106 1 490 0 0
- ... ... ... 0 0
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CAN Bus Examples for Fieldbus operation
CAN Bus 6-25
Setting list data Draw up list 1 as a position/signal list
Set the values in the list. By way of an example, the solution is
shown for list entry 0 with the following values:
Comparative position: 10 usr
Trigger signal level: 0
Set the starting and finishing number of the list range:
Starting number = 0
Finishing number = 6
Setting list 1 as a position/signal list:
Example of list entry 0 with processing values:
The setting of the other list points 1..6 is made in a similar way via index
L1Data1..L1Data6.
Setting the starting and finishing numbers of the list range:
Object Req Six Index Data Description
TxD 1100.1 L1Data0.typeList 84h 01h 044Ch 0000 0001h Selection: 1 = position/signal list
Object Req Six Index Data Description
TxD 1100.2 L1Data0.posList1 04h 02h 044Ch 0000 000Ah List 1.entry0: comparative position =
10 usr = 000Ah usr
Object Req Six Index Data Description
TxD 1100.3 L1Data0.sign.List1 84h 03h 044Ch 0000 0000h List1.entry0: signal status = 0
Object Req Six Index Data Description
TxD 44.6 List.bgnList1 04h 06h 002Ch 0000 0000h Setting the starting number of list 1 to
0
Object Req Six Index Data Description
TxD 44.7 List.endList1 84h 07h 002Ch 0000 0006h Setting the finishing number of list 1 to
6
6-26 CAN Bus
Examples for Fieldbus operation CAN Bus
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Activating list control Activate list 1 from the example shown above, and monitor the pro-
cessing sequence
For the example, the following conditions must be met:
The controller must be in OperationEnable status, see page 6-4.
The list type, list data, starting and finishing numbers of the range to
be processed are set in list 1.
When processing has been completed, list_end changes from 0 to 1.
The number of the list entry last activated can be interrogated via
List.actList.
The level of the output TRIGGER can be set via I/O.OutTrig when list
control is inactive.
Object Req Six Index Data Description
TxD 44.1 List.startList 84h 01h 002Ch 0000 0001h Activation of list processing 1 = list1
Object Req Six Index Data Description
TxD 44.2 List.stateList 04h 02h 002Ch 0000 0000h Reading the status of list processing
Res Ctrl fb-stat Data Description
RxD 00h xxh xxx6h xxxx 0001h Acknowledgment in bytes 7 and 8:
list_err = list_quit = 0 bits 0 and 1: 1 =
list1 active list control running
Res Ctrl fb-stat Data Description
RxD 00h xxh xxx6h 0000 4000h Acknowledgment in bytes 7 and 8:
list_quit = 1list control completed
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CAN Bus Examples for Fieldbus operation
CAN Bus 6-27
6.7.2 Teach-in
The current absolute position in user-defined units [usr] can be stored in
a selected list or data set memory as a position value using the Teach-
in function.
The following example describes the process by which list 1 is set up for
Teach-in as a position/signal list, and how the actual Teach-in process is
carried out. Execution is monitored.
All the necessary settings must have initially been carried out via the
functions which are described in this chapter Using operating func-
tions.
Preparing Teach-in Set list 1 as the memory for Teach-in processes.
Set list 1 as a position/signal list.
Carrying out Teach-in Carry out Teach-in in order to store the current motor position in list
1 under entry 5. Monitor the processing status.
The Teach process is carried out as soon as it is called up. If a fault is
detected, it is reported as a synchronous fault.
The processing status of the Teach process can be read by means of
Teach.stateTeac. If processing has been carried out successfully,
teach_err=0 and teach_end=1 are reported.
6.7.3 Normalization
Position, speed and acceleration values are stored in the controller in
user-defined units. Normalization converts user-defined units to the
controller's units and vice versa. The normalization factor is set by spec-
ifying the numerator and denominator; the value is adopted when the
numerator is transmitted. More detailed information can be found in this
manual under Normalization.
It is only possible to change values when the power amplifier is switched
off e.g. in ReadyToSwitchOn status. The values specified in [usr] are
converted into control values when the power amplifier is activated, and
the threshold values are checked.
Values stored in the controller in [usr] lead to changed processing values
when the relevant normalization factor is changed. Therefore, the safety
distance of a homing movement Home.p_outHome must be adjusted
when the position normalization is changed.
Object Req Six Index Data Description
TxD 43.3 Teach.memNrTeac 84h 03h 002Bh 0000 0001h Selection: 1 = list1
Object Req Six Index Data Description
TxD 1100.1L1Data0.typeList 04h 01h 044Ch 0000 0001h Selection: 1 = position/signal list
Object Req Six Index Data Description
TxD 43.1 Teach.storeTeac 84h 01h 002Bh 0000 0005h Activation of teach process: Current
position value in [usr] is stored under
L1Data5.posList1.
6-28 CAN Bus
Examples for Fieldbus operation CAN Bus
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The normalization factor describes the connection between the value in
user-defined units [usr] and the value in the units of the controller:
Fig. 6.6 Calculation of the normalization factor
Setting position normalization Set position normalization so that changing the user position by
1000 usr results in one revolution of the motor.
Value user = 1000 usr
Value control = 1 rev
Fig. 6.7 Calculation of position normalization factor
For this task the power amplifier must be switched off, i.e. the controller
is in ReadyToSwitchOn status, see page 6-4.
Normalization factor
Controller value
User value
=
Value User Factor Value Controller
Position [usr] Position normalization 1 rev. (motor revolution)
Speed [usr] Speed normalization 1 r.p.m.
Acceleration/deceleration
[usr]
Acceleration normaliza-
tion
1 rev/(min*s)
Position normalization
Position value controller
Position value user
=
1
1000
=
Object Req Six Index Data Description
TxD 29.8 Motion.pNormDen 84h 08h 001Dh 0000 03E8h Position normalization factor: denomi-
nator = 1000 = 03E8h
Object Req Six Index Data Description
TxD 29.7 Motion.pNormNum 04h 07h 001Dh 0000 0001h Position normalization factor: numera-
tor = 1;results in numerator and
denominator being adopted
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CAN Bus Examples for Fieldbus operation
CAN Bus 6-29
6.7.4 Fast position value capture
Device types which can be used TLC5xx
Preparing position capture The current position of the motor in [inc.] is to be captured as soon as the
signal level at the CAPTURE1 input changes from 0 to 1.
Connect position capture on channel 1 with the CAPTURE1 input.
Set the signal level for capture to 01-edge.
All the necessary settings must have been made via the functions which
are described in this chapter Using operating functions.
Object Req Six Index Data Description
TxD 20.13 Capture.TrigSign 84h 0Dh 0014h 0000 0000h Selection: bit 0..1 = 0, i.e. setting up
recording via channel 1, triggered by
the input CAPTURE1
Object Req Six Index Data Description
TxD 20.15 Capture.TrigLevl 04h 0Fh 0014h 0000 0001h Selection: bit 0 = 1, i.e. setting trigger
level to 01-edge on channel 1
6-30 CAN Bus
Examples for Fieldbus operation CAN Bus
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Starting and monitoring position
capture
Start capture recording.
Monitor the processing status.
Determine the value recorded.
The following conditions must be met.
All the necessary settings must have been made via the functions
which are described in this chapter, Using operating functions.
Position capture must be set up, see previous example.
The module for the position sensor must be present and connected
to the sensor.
The processing status must be monitored cyclically; the status of the
processing operation is given in the data returned.
The position value saved in [inc.] can now be read:
Object Req Six Index Data Description
TxD 20.16 Capture.TrigStart 84h 10h 0014h 0000 0001h Selection: bit 0 = 1, i.e. position cap-
ture on channel 1
Object Req Six Index Data Description
TxD 20.17 Capture.TrigStat 00h 11h 0014h 0000 0000h Reading the status of position capture
Res Ctrl fb-stat Data Description
RxD 00h xxh xxxxh xxxx 0001h Acknowledgment in bytes 7 and 8: bit
0 = 1, i.e. position capture carried out
on channel 1
Object Req Six Index Data Description
TxD 20.18 Capture.TrigPact1 80h 12h 0014h 0000 0000h Reading the position value saved
Res Ctrl fb-stat Data Description
RxD 80h xxh xxxxh xxxx 1234h The position value in [inc.] is given in
the data returned: 1234h = 4660 inc.
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CAN Bus Examples for Fieldbus operation
CAN Bus 6-31
6.8 Examples of fault processing
Detailed information on fault handling in Fieldbus mode
can be found in the chapter entitled "Error handling" on
page 7-1.
6.8.1 Synchronous faults
Synchronous faults only occur in response to a command. When a com-
mand is transmitted, an immediate check is made whether it can be car-
ried out correctly. If this is not the case, the controller returns an error
number in response to the command, and cmderr=1 is set in byte
Responsedata. The controller status does not change as a result of
this action.
Creating a synchronous fault Carry out write access to a non-existent parameter (index: 0, sub-
index: FFh).
The controller must first be in the OperationEnable status, see
page 6-4.
Object Req Six Index Data Description
TxD 0.255 non-existent parameter 84h FFh 0000h xxxx xxxxh Write access to non-existent parame-
ter
Res Ctrl fb-stat Data Description
RxD C0h xxh 6xx6h 0000 1003h Cmderr=1. The error number (errnum)
is contained in bytes 7 and 8.
6-32 CAN Bus
Examples for Fieldbus operation CAN Bus
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6.8.2 Asynchronous faults
The occurrence of asynchronous faults does not depend on commands
sent. If the external and internal monitoring signals detect an fault, the
controller adopts an fault status. The controller status may change
depending on the fault class. The fault status can be interrogated or is
available in fb-statusword in cyclical transmissions.
Internal monitoring signals A blinking 1 on the 7-segment display of the controller appears
when a fault has occurred. Evaluate the cause of the fault.
In order to generate the fault, the following conditions must be met:
The controller is in OperationEnable status, see page 6-4.
The 220V power supply is switched off. If the capacitors are com-
pletely discharged, a blinking 1 appears in the 7-segment display
which signals undervoltage.
The user can evaluate the cause of the fault in detail via the internal
monitoring signals.
If bit 7 in fb-statusword is active, the warning messages via Sta-
tus.FltSig_SR and Status.IntSigSR can be read.
If the drive is at standstill, the interruption status can be cancelled again
with FaultReset see page 6-35.
Res Ctrl fb-stat Data Description
RxD 00h xxh E029h xxxx xxxxh In fb-statusword:
x_err=1,x_end=1,FltSig=1,cos=9:
Fault
Object Req Six Index Data Description
TxD 28.18 Status.FltSig_SR 80h 12h 001Ch xxxx xxxxh
Res Ctrl fb-stat Data Description
RxD 80h xxh E029h 0000 0002h Internal monitoring signal: bit 1 active,
i.e. cause of fault DC Bus undervolt-
age Lim1
Object Req Six Index Data Description
TxD 29.34 Status.IntSigSR 00h 22h 001Dh xxxx xxxxh
Res Ctrl fb-stat Data Description
RxD 00h xxh E029h 0000 8000h Internal monitoring signal: bit 15
active, i.e. Power amplifier not active
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CAN Bus Examples for Fieldbus operation
CAN Bus 6-33
External monitoring signals A positioning operation has been interrupted by a light barrier at the
STOP input. Evaluate the cause of the fault.
In order to generate the fault, the following conditions must be met:
The monitoring signal STOP is enabled by means of Set-
tings.SignEnabl; STOP is activated.
The controller is in QuickStopActive status.
The cause of the fault can be evaluated in detail via the internal moni-
toring signals.
If the drive is at standstill, the interruption status can be cancelled again
by means of FaultReset see page 6-35.
Res Ctrl fb-stat Data Description
RxD 00h xxh E047h xxxx xxxxh In fb-statusword:
x_err=1,x_end=1,SignSr=1,cos=7:
QuickStopActive
Object Req Six Index Data Description
TxD 28.15 Status.Sign_SR 80h 0Fh 001Ch xxxx xxxxh
Res Ctrl fb-stat Data Description
RxD 80h xxh E047h 0000 0004h Internal monitoring signal: bit 2 active,
i.e. STOP
6-34 CAN Bus
Examples for Fieldbus operation CAN Bus
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6.8.3 Other faults
If x_err (bit 15) is activated in fb-statusword, but neither SignSr (bit 6)
nor FltSig (bit 5) are set, an internal control fault is detected which can
only be read as an error number via Status.StopFault (32:7).
Determination of error number Faults which force the controller to quit OperationEnable status, are not
only entered in the bit line for external and/or internal monitoring signals,
but also in the error memory. The cause of the last change of status can
be directly accessed.
Read the cause of the last interruption from the controller's error
memory.
The controller must have been interrupted via the STOP input.
If the faults have been reset or the 24 V power supply has been switched
off and on again, the cause of the last interruption is deleted.
If more than one fault has been detected, only the fault which has led to
the interruption of the drive, i.e. to the controller leaving OperationEn-
able status, is stored as the cause of the last interruption. Any conse-
quential faults, which may occur, are stored in chronological order in the
normal error memory.
Object Req Six Index Data Description
TxD 28.15 Status.StopFault 80h 07h 0020h 0000 0000h Request: cause of last interruption
Res Ctrl fb-stat Data Description
RxD 80h xxh Cx47h xxxx 1846h In fb-statusword:
x_err=1,x_end=1,SignSr=1.error num-
ber 1846h in bytes 7 and 8.
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CAN Bus Examples for Fieldbus operation
CAN Bus 6-35
6.8.4 Resetting faults (FaultReset)
Fault states QuickStop or Fault can be left with the aid of FaultReset
if there are no fault causes active, otherwise the fault status is retained.
Once FaultReset has been successfully performed, the error number
of the last interruption is deleted. FaultReset can only be performed if
the drive is at standstill (x_end=1).
Fault-Reset Reset the interruption to the movement which has been caused by
the STOP input.
In order to be able to perform this task, the following conditions must be
met:
The controller is in QuickStopActive status as a result of the STOP
input being activated.
The cause of the fault is no longer active, i.e. the STOP input is
deactivated.
The drive is at standstill (x_end=1).
If the fault has been successfully reset, the controller quits fault status.
The controller enters OperationEnable status.
The fault entry in the error memory is not deleted as a result of this
action.
Res Ctrl fb-stat Data Description
RxD 00h xxh E047h xxxx xxxxh In fb-statusword:
x_err=1,x_end=1,SignSr=1,cos=7:
QuickStopActive
Object Req Six Index Data Description
TxD 28.1 Commands.driveCtrl 84h 01h 001Ch 0000 0008h Request: set bit 3 FaultReset
Res Ctrl fb-stat Data Description
RxD 80h xxh 6xx6h xxxx xxxxh In fb-statusword: x_err=0,cos=6:
OperationEnable
6-36 CAN Bus
Examples for Fieldbus operation CAN Bus
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6.8.5 Reading and deleting the error memory
All fault messages are entered in the controller's error memory in chro-
nological order. There can be a maximum of 20 entries in the error mem-
ory.
Besides the error number, the following information can also be read
from the error memory:
Fault class
Time of fault since power amplifier was switched on
Number of AMPON cycles (activation of amplifier)
Additional information on the fault
ErrMem0 contains the information on the oldest fault entry, ErrMem 1 on
the second oldest, etc. If there are no entries in the error memory, the
error number = 0.
Faults of fault class 2 and higher are stored in non-volatile memory and
are not deleted when the controller is switched off.
There is a special command available for deleting the error memory.
Reading the error memory The oldest fault entry is an interruption to the movement caused by the
STOP input. The controller is in QuickStopActive status.
Read all the information on the oldest fault entry from the error
memory.
Object Req Six Index Data Description
TxD 900.1 ErrMem0.ErrNum 80h 01h 0384h 0000 0000h Request: error number in ErrMem0
Res Ctrl fb-stat Data Description
RxD 80h xxh Cx47h 0000 1846h In fb-statusword:
x_err=1,x_end=1,SignSr=1.error num-
ber 1846h in bytes 7 and 8
Object Req Six Index Data Description
TxD 900.2 ErrMem0.Class 00h 02h 0384h 0000 0000h Request: fault class
Res Ctrl fb-stat Data Description
RxD 00h xxh Cx47h 0000 0001h Fault class = 1 in bytes 7 and 8
Object Req Six Index Data Description
TxD 900.3 ErrMem0.Time 80h 03h 0384h 0000 0000h Request: Time of fault since power
amplifier was switched on
Res Ctrl fb-stat Data Description
RxD 80h xxh Cx47h 0000 035Dh Time of fault 035Dh = 861sec
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CAN Bus Examples for Fieldbus operation
CAN Bus 6-37
Access to the other fault entries, ErrMem1 to ErrMem19 is achieved in
a similar manner, with the index for the parameter having to be changed
accordingly; e.g. ErrMem5, index = 905 = 389h.
Deleting the error memory Delete all entries in the error memory.
The entries in the error memory will be deleted regardless of whether or
not the cause of the fault is still active.
Object Req Six Index Data Description
TxD 900.4 ErrMem0.AmpOnCnt 00h 04h 0384h 0000 0000h Request: number of amplifier switch-
on cycles
Res Ctrl fb-stat Data Description
RxD 00h xxh Cx47h 0000 006Eh Switch-on cycles 6Eh = 110 cycles
Object Req Six Index Data Description
TxD 900.5 ErrMem0.ErrQual 80h 05h 0384h 0000 0000h Request: additional information for
assessing fault
Res Ctrl fb-stat Data Description
RxD 80h xxh Cx47h 0000 0000h Value = 0; no additional information
available
Object Req Six Index Data Description
TxD 32.2 Commands.del_err 80h 02h 0020h 0000 0000h Request: delete contents of error
memory
6-38 CAN Bus
Examples for Fieldbus operation CAN Bus
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CAN Bus Error handling
CAN Bus 7-1
7 Error handling
7.1 Error messages
The master device receives error messages during network operation
through the received data. Differentiation is made between reports of
Synchronous errors
Asynchronous errors
Reports of synchronous errors are sent to the master device directly in
the way of a response when the command transmitted has not been able
to be carried out. A synchronous error is recognized by the cmderr bit.
Asynchronous errors are reported by the monitoring facilities in the con-
troller as soon as a fault in the controller occurs. In order to recognize an
asynchronous error, the master device continually monitors the status
word fb_statusword.
The controller supplies status information only at the request of the mas-
ter device. If the timeout monitoring function is activated, the master
device must request status information again before the timeout time
expires. Otherwise the controller reports a timeout error.
7-2 CAN Bus
Error handling CAN Bus
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7.2 Synchronous errors
A synchronous error is reported through the command error bit cmderr
in the first byte of the received data:
cmderr=0: Command has been successfully executed.
cmderr=1: An error has occurred.
Fig. 7.1 Evaluation of synchronous errors
Causes of errors Possible causes of a synchronous error are:
Unknown command, syntax error or incorrect transmitted data for-
mat
Parameter value outside permissible range
Illegal action or control command during running process
Error in carrying out an action or control command
cmderr is only valid after the command has been acknowledged. The
controller sends back an error number errnum in bytes 7 and 8 of the
received data, and from this number the cause of the error can be deter-
mined.
A table with the error numbers can be found in the manual in the chapter
on diagnostics and error correction.
Command correctly
executed
Evaluate error
number "errnum"
cmderr = 0
?
no
yes
Check execution
of command
Check of synchronous error
Error response
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CAN Bus Error handling
CAN Bus 7-3
7.3 Asynchronous errors
In order to recognize an asynchronous error, error bits must be moni-
tored in the status word, fb_statusword.
Bit 15, x_err: Error status during processing,
evaluate cause via bit 5 and bit 6
Bit 7, Warning: Warning message from the controller,
e.g. I
2
T- amplifier fault
Bit 6, Sign_SR: Report from external monitoring signal,
e.g. movement interrupted by STOP input
Bit 5, FltSig: Report from internal monitoring signal
e.g. overtemperature in amplifier
Signal status 1 flags an error or warning message.
Fig. 7.2 Status word for evaluating asynchronous errors
Warning message In a warning message, the movement command continues to be pro-
cessed, and the error information is input in parameters Sta-
tus.FltSig_SR (28:18) or Status.IntSigSr (29:34).
Bit 15 Bit 7..5
fb-statusword:
Bit 5: FltSig
Bit 6: Sign_SR
Bit 7: warning
Bit 15: x_err
0 x x x x x x x 0 0 0 x x x x x
Byte 4 Byte 3
7-4 CAN Bus
Error handling CAN Bus
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Error message If the controller sets the x_err signal, it immediately interrupts the
movement operation and depending on the class of fault, it reacts either
by braking or by immediately switching off the amplifier. Besides the
x_err bit, the bits FltSig or Sign_Sr are also set. The meaning of the
error message must be determined through the relevant parameters.
Fig. 7.3 Evaluation, asynchronous errors
Parameters, fault classes and measures for correcting faults are all
described in the manual in the chapter on diagnostics and error correc-
tion.
Evaluate
"Status.StopFault" (32:7)
Check for asynchronous error
Monitor slave
device status
x_err = 1
?
yes
Warning
Evaluate
"Status.FltSig_SR" (28:18)
"Status.IntSigSR" (29:34)
Evaluate
"Status.FltSig_SR" (28:18)
"Status.IntSigSR" (29:34)
Evaluate
"Status.Sign_SR" (28:15)
warning
=1?
yes
no
no
FltSig = 1
?
yes
no
Sign_Sr
= 1?
yes
no
Internal signal
External signal
Other error
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CAN Bus Service, maintenance and warranty
CAN Bus 8-1
8 Service, maintenance and warranty
8.1 Service information
Technical and commercial service requests, including warranty and on-
site services, should be directed to your Square D authorized distributor
or the Square D Customer Support Center at 1-888-SQUARED (1-888-
778-2733).
Maintenance The Twin Line controller requires no maintenance.
Periodically check the control cabinet filter at the Twin Line control-
lers location. Inspection intervals are determined by ambient condi-
tions at the site.
Repairs to the Twin Line controller are to be carried out only
by Schneider Electric authorized personnel.
Warranty Unauthorized disassembly of the controller will void the warranty.
8-2 CAN Bus
Service, maintenance and warranty CAN Bus
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8.2 Shipping, storage and disposal
HAZARD OF ELECTRIC SHOCK, BURN, OR EXPLOSION
Read and understand this bulletin in its entirety before install-
ing or operating Twin Line drive system products. Installation,
adjustment, repair, and maintenance of these drive systems
must be performed by qualified personnel.
Disconnect all power before servicing the power controller.
WAIT SIX MINUTES until DC bus capacitors discharge, then
measure DC bus capacitor voltage between the DC+ and DC-
terminals to verify that the DC voltage is less than 45 V. The
DC bus LED is not an accurate indication of the absence of
DC bus voltage.
The motor can produce voltage at its terminals when the shaft
is rotated! Prior to servicing the power controller, block the
motor shaft to prevent rotation.
DO NOT short across DC bus terminals or touch unshielded
components or terminal strip screw connections with voltage
present.
Install all covers and close enclosure door before applying
power or starting and stopping the drive system.
The user is responsible for conforming to all applicable code
requirements with respect to grounding all equipment.
Many parts in this drive system, including printed wiring
boards, operate at line voltage. DO NOT TOUCH. Use only
electrically insulated tools.
Before servicing drive system:
Disconnect all power.
Place a DO NOT TURN ON label on the drive system dis-
connect.
Lock the disconnect in open position.
Failure to follow these instructions will result in death or
serious injury.
DANGER
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CAN Bus Service, maintenance and warranty
CAN Bus 8-3
Deinstallation Save the parameter settings of the controller:
With the commissioning software, select File Save to save all
values on the PC's data storage medium.
With the Human-Machine Interface, select menu 8.1 Read Param.
to copy the parameter set into the Human-Machine Interface copy
memory.
Switch the controller off.
Disconnect the power supply.
Mark all connections to the controller.
Disconnect the motor cable.
Pull out the interface connector.
Remove the controller from the control cabinet.
Shipping The controller must be protected against impact while in transit. Use the
original packing material for this purpose.
Storage Store the controller within the specified storage limits for room temper-
ature and humidity.
Protect the controller from dust and dirt.
Disposal When servicing or decommissioning, dispose of this equipment in
accordance with the applicable standards for this classification of equip-
ment. The controller is made from many recyclable materials. Some
materials may require special disposal procedures.
For recycling purposes, split the controller into the following parts
Housing, screws and terminals for ferrous metal recycling
Cables for copper recycling
Connectors, hood for plastics recycling
Circuit boards and electronic components must be disposed of sepa-
rately in accordance with the relevant environmental protection laws.
Check with and conform to local laws and procedures before disposing
of these components.
8-4 CAN Bus
Service, maintenance and warranty CAN Bus
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CAN Bus Accessories
CAN Bus 9-1
9 Accessories
9.1 List of accessories
Accessories for the controller are:
Qty. Designation Order No.
1 Commissioning software TLCT with online doc-
umentation on data carrier
TLAPSCA
1 RS-232 programming cable, 5 m
RS-232 programming cable, 10 m
TLACDPBG050
TLACDPBG100
1 HMI hand-held operating unit with manual TLAPH00
1 TLHMI cable to fit TLACDCBGzzz
1)
1) Cable length zzz: 015, 030, 100: 1.5 m, 3 m, 10 m
1 Network cable for CAN bus TLACDCBAyyy
2)
2) Cable length yyy: 005, 015, 030, 050: 0.5 m, 1.5 m, 3 m, 5 m
1 Terminating plug for CAN-C module
- 9-pole socket
- 9-pole pins

TLATA
TLATB
9-2 CAN Bus
Accessories CAN Bus
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CAN Bus Index
CAN Bus A-1
Index
A
Accessories
Order number 9-1
Acknowledgment mechanism 4-11
Action commands 4-14
Address settings 5-3
Addressing of transferred data 4-5
Asynchronous errors 7-3
Axis information 4-7
C
CAN bus
Connecting the Twin Line controller 5-4
Fieldbus devices 2-2
CAN-C-interface 2-1
CAN-Interface, connecting 5-4
cmderr (command error)
Bit in received data 4-7
Function 4-12
Command
Action commands 4-14
Control commands 4-14
Read value (ccs=0) 4-6
Write value (ccs=4) 4-6
Command error 4-12
Commanddata, Byte in transmitted data 4-4, 4-6
Commissioning software TLCT
Local access with 4-2
Order number 9-1
Connection monitoring 4-9
Control commands 4-14
Controldata
Allocation of operating mode 4-15
Byte in received data 4-7
cos, Bits in receive data 4-8
D
Data framework 4-4
Transmitted data 4-5, 4-6
Data structure 4-4
Deinstallation 8-2
Diagram
Carrying out a control command 4-14
Carrying out an action command 4-14
Evaluation, Asynchronous errors 7-4
Evaluation, Synchronous errors 7-2
Monitoring the execution of an action command 4-16
Disposal 8-3
E
EMC measures 5-1
errnum, Byte in received data 4-8
A-2 CAN Bus
Index CAN Bus
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Error
Asynchronous 7-3
Synchronous 7-2
Error message, monitoring with "x_err" 4-8
Error number "errnum" 4-8
Examples
Device information 6-9
Electronic gear 6-16
Fault processing 6-31
FaultReset 6-35
Homing 6-18
Inputs 6-11
List control 6-24
Manual movement 6-20, 6-21
Normalization 6-27
Operating functions 6-24
Operating modes 6-12
Operating status 6-3
Outputs 6-11
Parameter settings 6-9
Point-to-Point Positioning 6-12
Position value capture 6-29
Processing parameters 6-7
Speed mode 6-15
Status information 6-10
Structure 6-1
Teach-in 6-27
F
fb-statusword
Byte in received data 4-8
Evaluating asynchronous errors 7-3
Fieldbus
Cable installation 5-1
Network topology 1-1
Operating modes with Twin Line devices 2-2
Transmission technology 1-1
Fieldbus interface CAN-C 2-1
FltSig, Bit in received data 4-8
H
h, see hexadecimal value
Hazard categories 3-1
Hexadecimal value 4-4
HMI hand-held operating unit
Local access with 4-2
Manual 2-3
Monitoring Fieldbus operation 5-6
Order number 9-1
I
Identification 4-5
Identifier, calculating 4-5
Index, Byte in transmitted data 4-4, 4-6
Information, for service 8-1
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CAN Bus Index
CAN Bus A-3
Installation
Address settings 5-3
Connecting the Twin Line controller 5-4
Device installation 5-3
L
Local access 4-2
M
Maintenance 8-1
Master-slave technique 1-2
Mode, Bit in framework of received data 4-7
Monitoring
Error of controller with "x_err" 4-8
External error with "Sign_SR" 4-8
Internal error with "FltSig" 4-8
Operating status with "x_add_info" 4-8
With "x_end" 4-8
Monitoring the operating status 4-15
O
Online command processing 4-3
Operating status
Changing 6-4
Checking 6-3
Evaluate 4-8
Monitoring with "x_end" 4-8
Operation, Monitoring end of operation with "x_end" 4-8
Optimizing network performance 3-4
P
Program examples, Structure 6-1
pwin, Bit in received data 4-7
Q
Qualification of the personnel 3-3
R
readdata, byte in received data 4-8
Received data
Communication 4-4
Examples 6-1
Identifier 4-5
ref_ok, Bit in received data 4-7
Repeater 5-5
responsedata, Byte in received data 4-7
rf (receive flag)
Acknowledgment mechanism 4-11
Bit in received data 4-7
S
Safety notes 3-1, 3-2
Service information 8-1
Set-up
Initiating network operation 5-6
Troubleshooting 5-6
A-4 CAN Bus
Index CAN Bus
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sf (send flag)
Acknowledgment mechanism 4-11
Bit in transmitted data 4-6
Shipping 8-3
Shipping, storage and disposal 8-2
Sign_SR, Bit in received data 4-8
Signal interface, addressing with 5-3
Slaves
Devices 1-1
Task 1-1
Status information 4-8
Storage 8-3
Sub-index, Byte in transmitted data 4-4, 4-6
Synchronous error 7-2
System requirements 2-1
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Termination 5-5
Transmitted data
Communication 4-4
Data framework 4-5, 4-6
Examples 6-1
Identifier 4-5
U
Unit address, identifier for 4-5
W
Warning
Bit in received data 4-8
Warning message with "warning" 4-8
Warranty 8-1
X
x_add_info, Bit in received data 4-8
x_end, Bit in received data 4-8
x_err
Bit in receive data 4-8
Error message 7-4