Woodward 9905-367 | 2301A Series CANopen-Enabled Load Sharing & Speed Control Module for Industrial Prime Movers

Description

Product Overview

Key Technical Specifications

• Input Voltage: 20–40 Vdc (nominal 24 Vdc) – optimized for standard industrial DC power systems.
• Control Modes:
  • Isochronous Mode: Maintains constant prime mover speed (±0.1% tolerance) for standalone/isolated bus operation.
  • Droop Mode: Adjusts speed based on load (adjustable droop percentage, 0–18%) for parallel operation (wider range than standard 2301A models).
• Communication Interface: CANopen (DS-301/DS-402)​ – supports CiA 301 (communication profile) and CiA 402 (drive profile); baud rates: 125 kbps–1 Mbps; 11-bit/29-bit identifiers.
• Actuator Compatibility: Works with Woodward proportional actuators (e.g., EG-3P, PG-PL, EPG-2) and CANopen-enabled actuators (e.g., third-party servo valves).
• Operating Temperature: -35°C to +75°C (-31°F to +167°F) – extended range for semi-harsh environments.
• Certifications: CE, UL, CSA, C-Tick – compliant with international industrial safety and EMC standards.
• Dimensions: Compact form factor (~290 mm × 215 mm × 95 mm) – fits standard 19-inch control cabinets.
• Weight: ~4.3 kg (9.5 lbs) – rugged yet lightweight for industrial use.
• Diagnostic Features: 8x LED indicators (power, run, sync, CAN, fault, mode, actuator, comm) + non-volatile fault log (stores last 150 events with timestamps, error codes, and system parameters).
• Output Signal: 0–200 mA (sink) or CANopen PDO (Process Data Object) for actuator control – dual-mode output for versatility.

  

  Woodward 9905-001-L

Field Application & Problem Solved

• Network Integration Challenges: Base 2301A modules lack native CANopen support, requiring gateways for PLC integration—adding latency and cost. The 9905-367’s built-in CANopen (DS-301/DS-402) enables direct communication with CAN-based control systems.
• Deterministic Data Exchange: Traditional Modbus RTU (e.g., 9905-373) has higher latency (~10–100 ms) than CANopen (~1–5 ms), making it unsuitable for real-time motion control. The 9905-367’s CANopen ensures fast, reliable data transfer for dynamic load adjustments.
• Limited Diagnostic Depth: Basic models store <50 fault events, complicating analysis of intermittent network or actuator issues. The 9905-367’s 150-event log captures long-term trends (e.g., CAN bus errors, actuator response delays).

• Automotive Test Benches: Controlling dynamometer engines with CANopen-integrated torque/speed feedback.
• Marine Hybrid Propulsion: Synchronizing shipboard generators with CANopen-based thruster controls.
• Smart Factory Cogeneration: Balancing electrical/thermal loads in real-time via CANopen-linked DCS.

Installation & Maintenance Pitfalls (Expert Tips)

1. CAN Bus Termination & Shielding:
   • Terminate the CAN bus with 120Ω resistors at both ends. Use shielded twisted-pair cable (e.g., Belden 9841) and ground the shield at one point to minimize EMI.
2. Node ID & Baud Rate Configuration:
   • Assign a unique CANopen node ID (1–127) to the module. Match the baud rate (e.g., 500 kbps) across all nodes using Woodward’s CANopen Configuration Tool (Software # CCT-001).
3. PDO Mapping for Real-Time Data:
   • Map critical parameters (speed, load, faults) to CANopen PDOs (e.g., TPDO1 for actual speed, RPDO1 for setpoint) for deterministic updates (≤10 ms cycle time).
4. Periodic CAN Bus Health Checks:
   • Use a CAN analyzer (e.g., PCAN-View) to monitor bus load (<70%), error frames, and node status. Address CRC errors or arbitration losses promptly.

Technical Deep Dive & Overview

1. Signal Reception & Processing:
   • Accepts inputs from speed sensors (magnetic pickup), load sensors (CTs), and CANopen remote setpoints (via RPDOs). Analog circuitry with adaptive PID algorithms​ calculates fuel/steam flow adjustments.
2. Control Modes:
   • Isochronous: Locks speed to a setpoint (±0.1% accuracy) using phase-locked loop (PLL) circuits.
   • Droop: Adjusts speed based on load (0–18% droop) for parallel generator load sharing, with droop percentage settable via CANopen or local potentiometers.
3. CANopen Integration:
   • A dedicated CAN controller (e.g., NXP SJA1000) handles DS-301 (communication) and DS-402 (drive) profiles. Key objects include:
     • Object 6040h: Control word (start/stop, mode selection).
     • Object 6064h: Actual speed (0.1 RPM resolution).
     • Object 607Ah: Target speed (setpoint).
4. Diagnostic Logging:
   • A non-volatile flash memory stores 150 events, including CAN bus errors (e.g., “Bus Off”), actuator faults, and sensor drifts. Timestamps use an RTC with battery backup.

     

     Woodward 9905-001-L

• Communication Protocol: CANopen (DS-301/DS-402) vs. 9905-373’s Modbus RTU (slower, higher latency).
• Expanded Fault Log: 150 events vs. 9905-373’s 100 events.
• Wider Droop Range: 0–18% vs. 9905-373’s 0–15% for flexible parallel load sharing.

Final Notes

• Choose 9905-367 if: You need CANopen communication (fast, deterministic), a 150-event fault log, or a wider droop range (0–18%).
• Consider Alternatives: For Modbus RTU, use 9905-373; for basic synchronization, use 9905-028 (SPM-A).