CANOpen Communication Setup Guide – KEB S6 and F6 Drives

Hardware and Software Requirements

In this tutorial, we will be using the following hardware and software:

• KEB Combivis 6
• KEB S6 or F6 drive (with control type K, A, or P)
• KEB USB to Serial Adapter

Now, let’s get into our CANOpen setup guide.

CANOpen Communication Setup

Before launching your COMBIVIS 6 project, ensure the USB-to-serial communication cable is correctly connected between your computer and the X4A port on the F6 or S6 drive. Then, power the drive, open COMBIVIS 6 on your computer, and create a new empty project.

Watch: How to Quickly Connect COMBIVIS to a KEB F6 & S6 Drive

1. Combivis Diagnostic Setup

When your new project is open, you can scan for devices using the magnifying glass icon below.

Verify the serial interface you have connected and select “Start search. . . ”. Combivis 6 will then scan for a connected device.

Important: If the device is not found, verify that the hardware connections are correct and make sure the device is powered on. Also, check to see if another program on your PC is currently using the desired COM port.

When you find the device, select it and click the “Add selected devices” button. The device will be added to the Navigator window. Double-click the device to open it in the Device editor. From here, you can adjust its settings.

2. Fieldbus Selection

In the device editor, select the “Wizards” tab and open “Fieldbus.” From the drop-down menu, set the Fieldbus to CANOpen.

After changing the fieldbus type, select the “run software reset” button to restart the control board. This button is below the wizard’s tab but above the process data mapping window.

Important: The control must restart after changing the fieldbus type.

3. Process Data Setup

The Fieldbus wizard allows you to set up the transmit and receive process data. You can use a default data mapping or a custom data mapping. The default data mapping uses the standard CiA 402 process data.

This example uses the default process data mapping. Click on the “Stored mappings” button on the lower right side of the Wizard screen and select “standard PD mapping (F6/H6/S6).”

Custom data mappings can be added by selecting the desired parameters from the “Available parameters” window and dragging them onto the available transmit and receive process data slots.

The process data mapping will update, displaying the default process data in the transmit and receive PDOs. Select the “Active PDO” checkboxes if not already selected.

4. CAN Node ID and Rotary Switch Configuration

The CAN node ID is influenced by the rotary switches S1 and S2. The value defined by the rotary switches can be found in the fb100 node ID switch value.

Alternatively, the CAN node ID can be defined by fb64 CAN node ID if the S1 and S2 rotary switches are set to 0.

The CAN node ID can be set to values between 1 and 127. For this example, set the S1 and S2 rotary switches to 0.

5. CAN Baud Rate

The CAN baud rate is set with fb66 CAN baud rate. The possible CAN baud rates are:

• 20kBit
• 25kBit
• 50kBit
• 100kBit
• 125kBit
• 250kBit
• 500kBit
• 1MBit

In this example, set the CAN baud rate to 250kbit.

6. Restart Control

The control must restart to affect the adjusted parameters. Navigate to the fieldbus wizard and select the “run software reset” button. After the control restart is complete, the drive configuration is complete.

Important: The CAN node ID and CAN baud rate require a control reboot to become active!