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Toshiba ASD-MULTICOM User`s Manual

1. State Running1 Running2 Ready Refer to the DeviceNet Specification for details regarding these attributes Faulted Maps directly to the fault status bit bit 40 of the G7 status word refer to Table 14 on page 26 Warning This attribute is not used and will always report 0 FaultRst Maps directly to the fault reset bit bit 2 of the G7 command word refer to Table 10 on page 23 G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 63 TOSHIBA CtrlFromNet This attribute mirrors the value set in attribute 5 NetCtrl G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 64 TOSHIBA 11 5 7 Motor Data Object Class Code 0x28 This object serves as a database for motor parameters 11 5 7 1 Motor Data Object Class Attributes Attribute Access N e Data Description Default ID Rules Type P Value 11 5 7 2 Motor Data Object Instance Attributes ew roe men EEN en e oar Jer 11 5 7 3 Motor Data Object Common Services Service Supported Service Name Description of Service Description of Service Service Code Get Attribute Returns the contents of the specified Ox0E Single attribute Set_Attribute _ Modifies the value of the specified 0x10 Single attribute 11 5 7 4 Motor Data Object Specific Services The Motor Data object provides no object specific services 11 5 7 5 Motor Data Object Attribute Semantics This
2. Single phase input A 2 Two phase input A 4 eq 2 Voltage rise time Encoder exclusive pulse rise time R x C Encoder exclusive pulse rise time s Refer to encoder specifications R Q Input resistance eeeeeeeeeeeeeees internal resistance 1000 Q external resistance value if there is external resistance C F Cable static capacitance eee Refer to cable specifications Example Encoder LBJ 005 500 SUMTAK 2 phase output pulse rise time 0 35 x 10 s Cable nit Any Brand Static capacitance 120 x 10 F m x 10 m Using equation eq 2 Voltage rise time Encoder exclusive pulse rise time R x C 0 35 x 10 s 1000 Q x 120 x 107 F m x 10 m 1 55 x 10 s Using equation eq 1 0 8 Maximum input frequency Pulses s x A Voltage rise time s 3x10 s Maximum input frequency 87912 Pulse s for single phase input 43956 Pulse s for two phase input G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 13 TOSHIBA 7 LED Indicators This section applies to ASD MULTICOM A option boards only The interface board contains two bi color red green status LEDs The lower LED indicates the Module Status MS and the upper LED indicates the Network Status NS Refer to Figure 2 The use and context of these LEDs is network specific refer to each network s section in this manual for further NS Network Status M
3. Current fault code internally located at parameter 0xFC90 Table 17 provides the list of fault codes with descriptions Table 17 Fault Codes Fault Code Fault Description Panel Display ver current fault of W phase arm E E Motor overload OH E Emergency OFF G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 28 TOSHIBA 0012 EEPROM write error EEP1 0013 EEPROM initial read error control EEPROM EEP2 0014 EEPROM initial read error main circuit EEPROM 0015 Main RAM error 0016 ain ROM error 0017 0018 0019 Gate array error 001A Output current detect fault 001B Option board error 001C Flash memory error 001D Under current fault 001E 001F 0020 0021 EF1 0022 arth fault hardware detection EF2 0023 use error 0024 OCR 0025 OC1P 0026 OC2P 0027 OC3P 0028 Automatic tuning error 0029 002A 002B 002C E 002D E t fi E ta Ww md RR2 RR3 RR4 RR5 RR6 RR7 ERR8 RR9 C m ql md ti nal nal GI G to G E lg J gja maalog ng j S a S N JJJ D ER Cd HO HI I I I I Ble ja je wl n ajo 002E 0031 E 1 Ei A E I H N G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 29 TOSHIBA Input Terminals Bit mapped input terminal word internally located at parameter OxFE06 Table 18 provides the format of this input terminal word Table 18 Input Terminals Bit Terminal N
4. No connection Profibus network A negative data line RTS signal ground reference internally connected to the interface board s isolated ground To connect to the Multicom interface complete the following steps 1 Connect the Profibus network cable to the DB9 connector marked CN3 on the G7 Multicom Option Refer to the Profibus Specification for detailed network wiring guidelines Ensure that the Profibus network cable is tightly screwed onto the DB9 connector and route the cable such that it is located well away from any drive input power or motor wiring Also take care to route the cable away from any sharp edges or positions where it may be pinched 2 Grounding is of particular importance for reliable stable operation Communication system characteristics may vary from system to system depending on the system environment and grounding method used The metallic housing of the DB9 connector CN3 will be regarded as the Shield GND of the Multicom interface The Shield GND should be connected to the shield of the Profibus network cable through the Profibus connector To ground the network cable shield therefore connect a wire to the Shield GND and then connect the other end of the wire to an appropriate ground For specific requirements regarding protective grounding and the Profibus network refer to the Profibus Standard EN 50 170 part 1 9 3 Unit Addressing The Profibus node slave addres
5. The sales contract contains the entire obligation of TOSHIBA International Corporation The warranty contained in the contract between the parties is the sole warranty of TOSHIBA International Corporation s ASD Division and any statements contained herein do not create new warranties or modify the existing warranty Any electrical or mechanical modifications to this equipment without prior written consent of TOSHIBA International Corporation will void all warranties and may void any UL CUL listing or other safety certifications Unauthorized modifications may also result in equipment damage or personal injury This Manual s Purpose and Scope Currently this manual covers the following G7 Adjustable Speed Drive options e ASD MULTICOM A multi protocol communications PG feedback e ASD MULTICOM B PG feedback only Not all sections of this manual will apply to the ASD MULTICOM B option These sections will be indicated in their respective introduction paragraphs This manual provides information that will assist the qualified user in the safe installation setup operation and disposal of the G7 Adjustable Speed Drive Multi Protocol Communication Option and PG Feedback Option The information provided in this manual is applicable to the G7 Adjustable Speed Drive Multi Protocol Communication Option and PG Feedback Option only This operation manual provides information on the various features and functions of these powerful cost saving d
6. attribute 12 via either the polled I O connection or explicit messaging connection To reset the interface card only issue a Reset service to the Identity Object 11 5 6 4 Control Supervisor Object Specific Services The Control Supervisor object provides no object specific services 11 5 6 5 Control Supervisor Object Attribute Semantics This section will detail any specific information that may be useful when accessing the attributes of the Control Supervisor Object whether directly via explicit messaging or indirectly via I O assembly objects Runt Run2 Indirectly map to the run stop selection bit bit 0 of the G7 command word refer to Table 10 on page 23 via the AC DC drive profile s Run Stop Event Matrix NetCtrl Maps directly to command priority bit bit 15 of the G7 command word refer to Table 10 on page 23 When this attribute and therefore command word bit 15 is 1 the option command word derived from the AC DC drive profile object attributes when AC DC drive profile I O assemblies are active becomes the drive s active command source regardless of the ASD s Command Mode selection parameter When this attribute is a 0 the option command word will no longer override the Command Mode selection parameter but the option command word may still be used by the ASD as its overall command source if the Command Mode selection parameter is set to Use Communication Card option
7. 7 Run preset speed 4 8 Run preset speed 5 9 Run preset speed 6 10 Run preset speed 7 11 Run preset speed 8 12 Run preset speed 9 13 Run preset speed 10 14 Run preset speed 11 15 Run preset speed 12 16 Run preset speed 13 17 Run preset speed 14 18 Run preset speed 15 Selected I O 0 Toshiba specific F893 Assembly 1 Basic speed control Instance Set 2 Extended speed control NA Always 0 Network Communication Loss Action G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual TOSHIBA 9 Profibus Interface This section applies to ASD MULTICOM A option boards only 9 1 Feature Summary The Multicom interface provides a wide array of network data access and drive control features Combined with the flexible configuration and high speed data transfer capabilities of the Profibus network this allows powerful networked control and monitoring systems to be designed Some of the main features provided by the Multicom interface which allow for this control and configurability are briefly described here Protocol Profibus DP Decentralized Periphery as specified in European standard EN 50170 The Multicom interface can also co exist simultaneously on networks using Profibus FMS Network Baud Rates Supports all Profibus baud rates from 9 6kbaud to 12Mbaud The network baud rate is automatically detected and continuously monitored during operation no par
8. Access PPR data registers Redirect to ASD upper address range Access Interface Firmware Version Redirect to ASD upper address range Access PPR address registers Access PPR data registers Redirect to ASD upper address range ASD Access G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 44 TOSHIBA 11 DeviceNet Interface This section applies to ASD MULTICOM A option boards only 5 pin pluggable terminal block TB3 provides a standard connection to DeviceNet networks 11 1 Feature Summary Application Toshiba 7 Series ASDs internally mounted Terminations One 5 pin pluggable gold plated connector for DeviceNet bus connection Refer to Figure 4 for wiring connections this information is also silkscreened on the interface PCB next to TB3 CALI OD OD OD OD OD A 1 NYO CT3IHS H HVO Figure 4 DeviceNet Network Wiring Connections TB3 Network Power Supply According to ODVA DeviceNet Specifications LED Indicators One bicolor red green Module Status LED and one bicolor red green Network Status LED Behavior according to ODVA DeviceNet Specifications Compatibility Group 2 Server Only device utilizing the Predefined Master Slave Connection Set Vendor specific I O POLL connection 8 bytes of data consumed and 8 bytes of data produced This product has been self tested by Toshiba International Corporation and found to comply with ODVA Conformance
9. Ali e lio gt 0 Run stop selection e Extended Command Word Offsets 6 and 7 Bit mapped drive extended command word internally located at parameter OxFA23 Table 11 provides the format of this extended command word Table 11 Extended Command Word Format 2 Torque limit 3 3 Torque limit 4 0 Torque limit 1 1 Torque limit 2 2 VIF 3 3 V F 4 0 V F 1 1 V 2 2 Accel decel 3 3 Accel decel 4 0 Accel decel 1 1 Accel decel 2 Reserved gt eS AA 4 Reserved 12 12 speed 13 13 speed 14 14 speed 15 15 speed 8 8 speed 9 9 speed 10 10 speed 11 11 speed 4 4 speed 5 5 speed 6 6 speed 7 7 speed 0 Preset speed selection bit 1 0 OFF 1 1 speed 2 2 speed 3 3 speed High Byte DOE o Low Byte G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 23 TOSHIBA e Speed Reference Command Offsets 8 11 Unsigned 16 bit value located at parameter OxFA07 The data contained in the speed reference command word is the desired speed reference command multiplied by 100 and then converted to hexadecimal In other words if a speed reference command of 55 34Hz is desired then 55 34 x 100 5534 which converted to hexadecimal is 0x159E The speed reference command low byte offset 11 must therefore contain 0x9E and the next highest byte offset 10 must contain 0x15 If the speed reference command exceeds limiting drive parameters such as the Upper Limit Freq
10. Control Devices 11 5 6 1 Control Supervisor Object Class Attributes Attribute Access Nene Data Description Default ID Rules Type P Value 11 5 6 2 Control Supervisor Object Instance Attributes AED Default Refer to ODVA Refer to ODVA DeviceNet Specification Specification Refer to DeviceNet Running2 BOOL Specification Refer to DeviceNet Specification 1 fault occurred i 0 no warnings present Warung POOL this attribute is unused FaultRst BOOL 0 1 fault reset Get CtrlFromNet BOOL 15Dr ive control is from DeviceNet Note When the drive is faulted and the FaultRst attribute is set the interface card will also be reset Dependent on system timing therefore a response to setting this attribute may or may not be produced Ready BOOL EA G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 62 TOSHIBA 11 5 6 3 Control Supervisor Object Common Services Service Supported Service Name Description of Service Description of Service Service Code Get Attribute Returns the contents of the specified Ox0E Single attribute Set_Attribute _ Modifies the value of the specified 0x10 Single attribute Note The Control Supervisor Object s Reset service resets only the Control Supervisor Object state machine attribute 6 It does not reset the drive or the interface card To reset the drive and interface card when the drive is faulted access the FaultRst attribute
11. Manual 8 TOSHIBA 6 3 Pulse Input Selection Two different types of pulse input circuitry are provided To select the desired pulse input circuitry properly set the position of jumpers JP1 JP6 as shown in the figure below Table 2 provides the proper jumper settings CN3UB Type 1 selected Line driver input a A mm I Type 2 selected Open collector input HEE o J 06 Jumpers for Pulse Input selection Table 2 Jumper Settings Pulse Input Type Characteristics Rated voltage output with emitter follower combination Higher noise immunity characteristics High speed response Long distance transmission capability Need to pay attention to waveform irregularity Input voltage Vpgai pca2 range 8 3V 16 6V Input circuit diagram Type 1 Line Driver ANODE CATHODE VO G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual TOSHIBA Pulse Input Type Characteristics Lower noise immunity characteristics Need to pay attention to waveform irregularity and distortion Input circuit diagram P5 AM26C321D VCC GND Type 2 Open Collector 6 4 PG Feedback Connection The pulse input signals are connected to terminal block TB1 Table 3 provides terminal descriptions for terminal block TB1 PGA1 and PGA2 are connected for Phase A PGB1 and PGB2 are connected for Phase B and PGZ1 and PGZ2 are connected for Phase Z The wiring for Phase Z is done only when using a Z ma
12. Toshiba Series 7 Serial Communications Interface Manual for detailed information on available drive registers their allowable adjustment ranges and any scaling factors that may apply To demonstrate an example operation let s say we would like to write a value of 85 00Hz to ASD parameter Maximum Frequency over DeviceNet via an explicit messaging transaction The ASD register communication number for Maximum Frequency is 0011 which is a value of 0x0011 in hexadecimal or 17 in decimal Therefore we would Set the Universal Register attribute to 1710 0x0011 The Maximum Frequency register also has a scaling factor of 0 01Hz associated with it which means the value that must be written to this register is 85 00Hz 0 01Hz 85009 0x2134 Therefore all we need to do now is perform a Set service on the Universal Data attribute with a value of 850019 In this same manner any available ASD data can be accessed If the requested operation cannot be performed typically due to such reasons as a non existent ASD register being targeted a data value that is out of range or a Set write operation that is performed when the drive is running targeting a register that does not allow such action a corresponding DeviceNet error code will be returned G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 71 TOSHIBA 11 5 9 Parameter Class Class code 0x0F The parameter class provides convenient access to various config
13. lines and the main circuit power wires by more than 200mm Use 0 75mm wire for connecting the option s PGCC terminal to the drive s CC terminal e Use 0 75mm wire for connecting the option s ground lug TB2 to the drive s G E terminal 5 Environmental Specifications Indoors less than 1000m above sea level do not expose to direct Operating Environment i sunlight or corrosive explosive gasses Operating Temperature 0 50 C 14 122 F 1 a G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 7 TOSHIBA 6 PG Feedback Operation This section applies to both ASD MULTICOM A and ASD MULTICOM B option boards 6 1 PG Feedback Enable Setting To enable PG feedback with the option set the position of switch 4 on DS1 to the ON position as shown in the figure below Switch 4 for PG enable ON DONA PG disabled set all switches to OFF default for ASD MULTICOM A YEr OFF DONA PG enabled set switch 4 to ON default for ASD MULTICOM B 6 2 PG Power Supply Voltage Selection The PG feedback option is capable of providing a PG power supply of 5V 6V 12V or 15V To select the desired PG power supply voltage properly set the position of switch 1 switch 2 and switch 3 on DS1 as shown in the figure below Table 1 provides the proper switch settings Table 1 PG Power Supply selection ON G7 ASD Multi Protocol Communication Option and PG Feedback Option
14. of the AC DC Drive Object the specific bits of this status word are shown in detail in the following table simply for ease of use mm si a e 3 G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 57 TOSHIBA 11 5 5 Connection class Class code 0x05 The Connection Class allocates and manages the internal resources associated with both I O and Explicit Messaging Connections 11 5 5 1 Connection Class Attributes Attribute Access Name Data Decisi n Default ID Rules Type P Value 11 5 5 2 Connection Class Instance Attributes The Instance IDs utilized by the DeviceNet Interface connection objects are shown in the following table Connection Description a ID i 1 References the Explicit Messaging Connection References the Polled I O Connection G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 58 TOSHIBA 11 5 5 2 1 Master Slave Explicit Messaging Connection Object Instance Attributes Attribute Access Sa Default type trigger produced_ Placed in CAN ID field connection_id VEN when transmitting a CAN ID field value 0x0404 5 Get e ica dd UINT denoting received MAC ID messages lt 3 fe ta Defines producing initial comm 7 Get FRE USINT consuming message _Characteristics groups produced Max number of bytes 7 Get _comnection transmitted across this _size connection consumed Max number of bytes Get _connection received across this _
15. section will detail any specific information that may be useful when accessing the attributes of the Motor Data object via explicit messaging MotorType Valid settings for this attribute are those detailed in the ODVA DeviceNet Specifications for an AC Motor Class namely 3 PM synchronous 6 wound rotor induction and 7 squirrel cage induction G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 65 TOSHIBA This attribute value is retained in the Multicom board s nonvolatile EEPROM but is not used in any way for drive control i e it is for user reference only RatedCurrent This attribute indirectly maps to ASD parameter number F600 Electronic Thermal Protection 1 found in the Motor Parameters Group This mapping is indirect due to parameter F600 being default set in units of rated drive current Therefore when the RatedCurrent attribute is changed with a SET service the drive s rated current is used as a basis to determine the corresponding percentage value to enter into ASD parameter F600 For example if the ASD has a rated current of 5 0A represented as 50 in 100mA units and the attached motor has a FLA rated current of 3 5A then SETting the RatedCurrent attribute to 35 3 5A represented with its designated 100mA units will cause parameter F600 to obtain a value of 35 50 x 100 70 Note that parameter F600 is only read by the Multicom interface upon drive initiali
16. shall not be liable for technical or editorial omissions or mistakes in this manual nor shall it be liable for incidental or consequential damages resulting from the use of information contained in this manual This manual is copyrighted No part of this manual may be photocopied or reproduced in any form without the prior written consent of TOSHIBA International Corporation O Copyright 2002 TOSHIBA International Corporation All rights reserved Printed in the U S A TOSHIBA TOSHIBA INTERNATIONAL CORPORATION GT Adjustable Speed Drive Multi Protocol and PG Feedback Option Please complete the Warranty Card supplied with the option and return it to Toshiba by prepaid mail This will activate the 12 month warranty from the date of installation but shall not exceed 18 months from the date of purchase Complete the following information about the option and retain it for your records Model Number _ASD MULTICOM A or ASD MULTICOM B Serial Number Date of Installation Inspected By Name of Application TOSHIBA Important Notice This user manual may not cover all of the variations of option applications nor may it provide information on every possible contingency concerning installation programming operation or maintenance The contents of this user manual shall not become a part of or modify any prior agreement commitment or relationship between the customer and TOSHIBA International Corporation
17. state with the Profibus network master This serves as a convenient indicator that the Profibus master and Multicom interface are configured properly and are exchanging data Profibus Network Connector The network interface is a standard DB 9 female connector The metallic housing of the DB 9 connector is typically connected to the network shield in the attached Profibus connector The DB 9 housing can in turn then be connected to earth ground if desired Input Output Data The Multicom interface s cyclic output control and input status data sizes are selectable modular in 16 different configurations representing sizes of between 4 and 40 bytes Via these data structures any data item command data monitor data and configuration parameters available in the drive can be accessed For detailed explanations of the format and usage of the input output data refer to section 9 4 G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 20 TOSHIBA 9 2 Profibus Interface Connection Table 8 provides DB 9 connector pin descriptions for Profibus connector CN3 Table 8 Pin description for Profibus connector CN3 Pin Profibus network B positive data line RTS signal direction control for fiber optic network interface DGND power supply ground internally connected to the interface board s isolated ground VP power supply 5v internally connected to the interface board s isolated PS
18. ture UM TE EATER E A AA ARES 19 9 2 Profibus Interface ComnectO cines Moats 21 9 3 Unit Addressing A ee eee 21 9 4 Profibus Exchanged Data Structures ccceccccscesseceseceseeseeeseeeeeeeeeeeeeseceseenseeaecaecaeceeeeeeneeses 22 9 4 1 Output Control Data FOrmat css sous osse yes sees res E EEE E 22 9 4 2 Input Status Data Format menuer vsere urene seesenen cnn 25 9 5 Di snosties A id A Ads 31 9 6 Asynchronous Drive Parameter ACCESS cssccssessseesseeseesseeeeceseceseeseceaecaaecaeecaeeeaeeeaeeeeeeneeeaeenes 32 9 6 1 Parameter Number Action Output Words cccccccccccccesceetetsseeeenseescusesseeseceeeesenecneeeseeaeeaeens 32 9 6 2 Parameter Number Action Input Words 2 erenenvenenere renere seere reen ernene 33 G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual i TOSHIBA 9 6 3 Drive Parameter Access Procedure oonnononinoninininonnnicicananananonencnnnanana nono nono nanann nn nono coronan ni nanes 34 9 6 4 Register Access Error COGS cccccssccessscseeseesesseesecseesecsceseceseesecaeesecasenseesecseesecaeeeeenseeeeeaeeaes 35 9 7 Parameters O ee eS 35 10 NA LO 10 1 Physical Lay A A di ir 36 10 2 Modbus RU aio 37 10 2 1 CONAGUA A Ai 37 10 2 2 Communication ForMafS ooonnnninninnninninnonnnonncnaconaa nn n renere nere nerne aan ninia 37 10 2 3 Modbus ASD Register Mappings 22su secure nnernre renere er 38 10 2 4 ASD SCAN RECLUSOS A A A 39 10 2 5 Supported Modbus Functions
19. used Please refer to the specific network interface sections of this manual to determine the method required for your installation This manual will primarily be concerned with the option s hardware specifications input characteristics configuration and installation and wiring precautions For more advanced application level information please contact Toshiba s ASD Marketing Department for copies of available application notes To maximize the abilities of your new ASD option a working familiarity with this manual will be required This manual has been prepared for the option installer user and maintenance personnel With this in mind use this manual to develop a system familiarity before attempting to install or operate the device G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 1 TOSHIBA 2 Safety Precautions DANGER Rotating shafts and electrical equipment can be hazardous Installation operation and maintenance of the ASD and option shall be performed by Qualified Personnel only Qualified Personnel shall be e Familiar with the construction and function of the ASD and option the equipment being driven and the hazards involved e Trained and authorized to safely clear faults ground and tag circuits energize and de energize circuits in accordance with established safety practices e Trained in the proper care and use of protective equipment in accordance with established safety practi
20. 0E07 will return the input terminal status located at ASD register OxFE06 If desired it is also acceptable to access the upper address registers at their original locations as their default OxFXXX locations can still be accessed Continuing with the previous example ASD register 0xFE06 can therefore be equally accessed by requesting either Modbus register 0x0E07 or 0xFE07 65031 9 In order to avoid any possible confusion regarding this register mapping scheme this manual will always explicitly use the terms ASD register or Modbus register where the intended usage may not be clear If the term register is used alone then Modbus register will be the intended meaning by default With the exception of the upper address register mapping feature explained above and the programmable pointer registers feature detailed in Section 10 2 6 the Multicom Modbus interface does not in any way modify or otherwise alter valid register access requests originating from the Modbus client By adhering to this design parameter the availability and interpretation of any Modbus registers is entirely determined by the attached drive In this way the Modbus interface allows itself to become virtually transparent on the network essentially allowing the Modbus client to carry on a dialog directly with the drive An overview of the entire mapping configuration can be found in Section 10 2 9 G7 ASD Multi Protocol Communicatio
21. 2 bits if no parity Error Check Field Cyclical Redundancy Check CRC According to the Modicon Modbus specification therefore the number of bits per byte in RTU mode is 1 start 8 data 1 parity 1 stop if parity is used or 1 start 8 data 2 stop if parity is not used resulting in an RTU data frame that is fixed at 11 bits per byte In addition to these standard specified data frame sizes the Multicom Modbus interface offers an optional configuration of providing for only 1 stop bit when no parity is selected As indicated in Table 6 on page 17 by setting parameter F892 Parity amp Stop Bits to 0 the RTU data frame size is modified to consist of 1 start 8 data 1 stop bit 10 bits per byte G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 37 TOSHIBA 10 2 3 Modbus ASD Register Mappings The Multicom Modbus interface acts as a relatively straightforward network gateway for the ASD into which it is installed In general Modbus holding registers 4X references are directly mapped to corresponding ASD registers also sometimes referred to as communication numbers or parameter numbers with a direct 1 to 1 correspondence The relationship between Modbus holding registers and their ASD register counterparts is as follows Modbus holding register ASD register 1 This means that in order to access a specific ASD register simply add 1 to its index and access that Mo
22. 2222 cen ene ureve rer eeenene aran nana ancora rana rana 41 10 2 6 Programmable Pointer Registers cccccceccscceseesseeeenseeseeeeeecuseeeccecscesesieeseceeeecnseesenseesenaees 42 10 2 7 Response Delay Timer Function nai noniine aea aaO TER aa EaR Sa TE E a Pea 42 10 2 8 LEDE Indicators id da ea dbp aeta dd 43 10 2 9 Register SUMMA A A A E NEEE 43 11 DeviceNet Interface cccccccccccsssssscsccccccccsssscscsccsccsccesessssssccccsscescesesssccees 45 VAST ESAS SUMMA A ceo 45 1152 Ut at o 46 A A O A 46 11 4 Connection OM ii nen es 46 11 4 1 Connection SIZES Ar ds 46 11 4 2 TO Assembly INStan Ces dd toads pence td Aia ai aaa 47 LS Object sSpeciic tions 336 3 A ao eee E ARE 48 1153 14 Identity OD E nia 49 11 5 2 Message ROUTE iii di E a a a da 31 11 5 3 Device Ne ODE enn EGE E E dt Es 52 11 54 Assembly Ob ett iniedi niini aeeiiaii dea sii tadas vith 54 11 5 5 GCONNECHON Class id ai aa 38 11 5 6 Control Supervisor Object earn ere S N ER NEEE 62 11 5 7 Motor Data Obeid td di 65 11 5 8 AG D C_DViVe OD eii in Hee 67 11 5 9 Parameter ClOSS8 NS ck Bees At A iets A des 72 11 6 Network Communication Loss ACtiOn cecececeseeccesesseeeecereecsseeeceaecaeesecsesseenaeeeeeaecaeeaeeaeeeeenee 73 2 NO nda G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual ii TOSHIBA 1 Introduction Congratulations on the purchase of the new G7 Adjustable Speed Drive ASD Multi Protocol Communication AS
23. D MULTICOM A or PG Feedback ASD MULTICOM B Option ASD MULTICOM A ASD MULTICOM B These option cards provide the ability to connect various different pulse generator feedback sources such as encoders to the G7 ASD These PG input signals can then provide enhanced performance for vector control pulsed speed command and process PID control applications Two different types of pulse input circuitry are provided which allows very flexible application and connectivity to a wide array of PG devices available on the market today ASD MULTICOM A In addition to the PG feedback circuitry this option card also provides connectivity to the most popular fieldbus networks in use today These networks include Profibus DeviceNet and RS 485 based networks Different option board firmware versions may provide varying levels of support for these different networks so when using this manual always keep in mind that the firmware version operating on your option board must match this manual s respective revision for all documented aspects to apply The option board firmware version covered by each revision of the manual is indicated in the last section of the Document Number on the manual s front cover For example if the Document Number on the front cover ends in V3 00 then this manual is only applicable for version 3 00 option board firmware The method of determining your board s firmware version varies depending on the network being
24. G7 Adjustable Speed Drive Multi Protocol Communication And PG Feedback Option Manual Document Number ICC 10389 003 V3 00 TRUE TORQUE CONTROL Date August 2002 ADJUSTABLE SPEED DRIVE TOSHIBA About This Manual This manual was written by the TOSHIBA Technical Publications Group This group is tasked with providing technical documentation for the G7 Adjustable Speed Drive Every effort has been made to provide accurate and concise information to you our customer Contacting TOSHIBA s Customer Support Center TOSHIBA s Customer Support Center can be contacted to obtain help in resolving any G7 Adjustable Speed Drive system problem that you may experience or to provide application information The center is open from 8 a m to 5 p m CST Monday through Friday The Support Center s toll free number is US 800 231 1412 Fax 713 466 8773 Canada 800 527 1204 You may also contact TOSHIBA by writing to TOSHIBA International Corporation 13131 West Little York Road Houston Texas 77041 9990 Attn ASD Product Manager For further information on TOSHIBA s products and services please visit our website at TIC TOSHIBA COM TOSHIBA TOSHIBA is a registered trademark of the TOSHIBA Corporation All other product or trade references appearing in this manual are registered trademarks of their respective owners The information in this manual is subject to change without notice TOSHIBA International Corporation
25. Multicom Modbus interface supports three Modbus commands command 3 0x03 read holding registers command 6 0x06 preset single register and command 16 0x10 preset multiple registers Not all drive registers support all commands for example certain drive registers may be read only or write only refer to the Toshiba Serial Communications Manual for specific details about the various drive registers Table 23 indicates the maximum number of registers that can be read written in one packet transaction Table 23 Read Write Limits 12 registers Except for scan register writes refer to Section 10 2 4 all register writes update the drive s EEPROM For this reason do not write to any single non scan register more than 10 000 times or EEPROM damage may occur G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 41 TOSHIBA 10 2 6 Programmable Pointer Registers Modbus registers 0x0C00 0x0C1F 307219 310310 and 0x0C20 0x0C3F 310410 313510 are collectively used by the Multicom Modbus interface as programmable pointer data and address registers respectively Programmable pointer registers PPR allow the user to access non consecutive Modbus registers with only one Modbus transaction Registers 0x0C20 0x0C3F the PPR address registers 32 total are used to define other Modbus register addresses from which you would like to read or write and registers 0x0C00 0x0C1F the PPR data
26. S Module Status information Figure 2 LED Indicators G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual TOSHIBA 8 Network Configuration Parameters This section applies to ASD MULTICOM A option boards only Because the Multicom interface supports several different fieldbus physical layers and protocols some configuration must be performed prior to inclusion on the network to inform the Multicom interface which network it is being asked to communication via and what the characteristics of that network are This configuration is performed by setting ASD parameters F890 F894 which are collectively known as the Network Configuration Parameters Note that the values of these 5 Network Configuration Parameters are only read by the Multicom interface upon initialization after a drive reset or power up condition Therefore if any of these parameters are changed be sure to reset the drive to enable the changes as will be explained later this may actually involve resetting the drive twice once when changing the Network Selection parameter to validate the chosen network and then once more when changing any of the configuration items associated with the chosen network Also note that although parameters F890 F894 are always available whether or not all of these configuration parameters are actually used by the Multicom interface will depend on the Multicom interface s firmware versio
27. SD Multi Protocol Communication Option and PG Feedback Option Manual 25 TOSHIBA e Status Word Offsets 2 and 3 Bit mapped status word Table 14 provides the format of this status word Table 14 Status Word Format YA 15 Ready for operation status Not ready not including MOFF 13 Ready for operation status not Not ready Ready ad ee 12 Ready for operation status Not ready Ready Br e 9 Forward reverse status Forward Reverse 6 OLalamstatus Normal OLaam PI control status 0 Faultstatus None Faulted High Byte Low Byte e Operating Speed Offsets 4 7 Obtained from drive parameter 0xFE58 Continuously reports the drive s operating speed In order to determine the drive s actual output speed the data contained in the output speed must first be converted from hexadecimal to decimal and then divided by 100 For example if offset 6 is 0x12 and offset 7 1s 0x34 then 0x1234 converted to decimal is 4660 Dividing this number by 100 the actual operating speed of 46 60Hz is obtained G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 26 TOSHIBA e Drive Status Scan Data Offsets 12 31 Table 15 provides a list of the available status scan data selections selectable via drive parameters F841 F846 The Parameter column indicates the drive s internal parameter to which the corresponding selection is mapped More detailed explanations of s
28. Test Software Version A 13 Node Isolation Network power and signals are optically isolated from the ASD s control power Bus Interface Phillips 82C251 or equivalent transceiver G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 45 TOSHIBA 11 2 Unit Addressing The DeviceNet node slave address is set via parameter F802 inverter number parameter Although parameter F802 has an adjustment range from 0 255 only 0 63 is an allowable addressing selection for the DeviceNet network Therefore if parameter F802 is set to 64 through 255 the Network Status LED will light solid red upon initialization to indicate the configuration error Correct the inverter number parameter setting and reset the drive to remove the error 11 3 Grounding Grounding is of particular importance for reliable stable operation Communication system characteristics may vary from system to system depending on the system environment and grounding method used In general however the following grounding checkpoints should be noted when comnecting any communications system to adjustable speed drives Grounding method checkpoints 1 Make all ground connections such that no ground current flows through the case or heatsink of a connected drive 2 Do not connect the DeviceNet network SHIELD to a power ground or any other potential noise producing ground connection such as a drive s G E terminal 3 Do not make connections to
29. This will continue to be the behavior until the Bus Off Counter attribute achieves a value of 255 Ifa CAN bus off event occurs after this point the unit will not attempt to restart the network interface it will remain faulted and isolated from the network until the drive is reset or power cycled G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 52 TOSHIBA 11 5 3 3 DeviceNet Object Common Services Service Supported Service Name Description of Service Description of Service Service Code Ox0E Get_Attribute_ Returns the contents of the specified i Single attribute Set_Attribute_ Modifies the value of the specified 0x10 Single attribute 11 5 3 4 DeviceNet Object Specific Services Service Supported d er Service Name Description of Service De e a l AA Allocate_ 0x4B N A Yes Master Slave Requests the use of the Predefined Master Slave Connection Set Connection Set Indicates that the specified Rel G 2 connections within the Predefined 0x4C N A Yes e ease TOUP Master Slave Connection Set are no Identifier_Set z longer desired These connections are to be released deleted G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual TOSHIBA 11 5 4 Assembly Object Class code 0x04 The Assembly Object binds attributes of multiple objects which allows data to or from each object to be sent or received over a single connection 11 5 4 1 Assembly Object Clas
30. ame Function Parameter 1 Expansion Terminals Number B15 Input terminal selection 16 F126 B14 Input terminal selection 15 F125 High Byte o ES EM OFF OF i Fr es ojojojojo jojojo Z IZ Z Z Z Z Z Z Z OFF OFF Input terminal selection 3 O Lo E input terminal selection Fill OFF ON e Response Bits Parameter Number Offsets 32 35 Parameter response bits and 16 bit parameter number Refer to section 9 6 for a detailed explanation of these items e Parameter Data Offsets 38 and 39 During parameter reads this word contains the requested data response Refer to section 9 6 for a detailed explanation of this location G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 30 TOSHIBA 9 5 Diagnostics When the drive faults 1 byte of high priority user diagnostics is supplied to the Profibus master The format of the diagnostics byte is shown in Table 19 Table 19 Drive Diagnostics Bit 7 6 5 4 3 2 yo D yo yo yo yo yo yo yo D D D D D D D 3 gt gt gt gt gt gt gt 3 E D D o D D D o n n n n n n n o oO oO oO oO oO oO oO gt mim 4 A oe ee ce Q Reserved bits indicated in the above table are currently set to 0 by the Multicom interface but may be used to transfer additional diagnostics data in future releases When the drive s fault condition is cleared a dia
31. ameter F890 and another one to change and validate the remaining Network Configuration Parameters parameters F891 F894 if necessary This behavior may best be explained through the use of an example Say for instance that the Multicom interface is currently configured for Profibus DP communications parameter F890 0 Let s also say that we would like to reconfigure the Multicom interface to communicate via Modbus RTU at 38 4kbaud with even parity and that all configuration parameters are currently at their factory default values 1 Apply power to the drive The drive and Multicom interface initialize Parameter F890 is set to 0 so the Multicom interface internally configures itself for Profibus DP communications G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 15 TOSHIBA 2 Change parameter F890 from its current setting of 0 to 1 to select Modbus RTU communications Press the ENTER key on the drive s panel to write the change At this point the Multicom interface is still configured for Profibus DP communications so parameters F891 F894 will not be adjustable beyond 0 3 Reset the drive fault the drive and reset it or momentarily power it off Now parameter F890 is set to 1 during initialization so the Multicom interface internally configures itself for Modbus RTU communications 4 Now when we inspect parameter F891 now Modbus baud rate the value will
32. ameter settings are necessary Power Supply Self contained Powered directly from the connected drive No external power supply devices or comnections are required Isolation The drive is fully optically isolated from the Profibus network By using optically isolated connections grounding differential problems are eliminated and noise immunity characteristics are greatly improved Global Control Functions e Freeze mode Input monitor data values are held constant within the Multicom interface until the next freeze command or an unfreeze command is received Used primarily for synchronized monitoring of multiple Profibus nodes e Sync mode Output control data values are held constant within the Multicom interface until the next sync command or an unsync command is received Used primarily for synchronized control of multiple Profibus nodes e Clear Data All output control data values are cleared to 0 Network Watchdog A network watchdog function is always operating within the Multicom interface if selected at time of unit commissioning In the event of a disconnection from the Profibus network or loss of the network master the Multicom interface will automatically set its control data to 0 G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 19 TOSHIBA Indicator A green LED LED1 is provided to indicate when the Multicom interface has achieved the DATA_EXCHANGE
33. ata Via ASD parameters F841 and F842 the user has the ability to select two additional high speed scan status items to be read from the ASD Starting on page 27 of this manual Table 15 Table 16 Table 17 and Table 18 provide a list of the available status scan data selections and related supporting information Once selected the corresponding status data can be read from the drive via AC DC drive object attributes 112 and 113 Universal Register Universal Data These attributes provide direct network access to any internal drive data configuration parameters command data or status data To use this powerful feature just set the Universal Register attribute to the ASD register also referred to as a communication number that you wish to access and then perform the desired operation Get to read from the ASD register or Set to write to it on the Universal Data attribute The operation on the Universal Data attribute will be directly performed on the data value contained in the internal drive register indicated by the Universal Register attribute Note that data written to or read from the drive is raw data which is to say that no scaling multiplier is applied and all data is expressed as integer values Also note that the Set service will invoke a corresponding write request to the drive s internal nonvolatile EEPROM memory so that written values will be retained by the drive through power off cycles Refer to the
34. be 5 Therefore we need to change parameter F891 from its current setting of 5 9600 baud to 7 38 4kbaud Press the ENTER key on the drive s panel to write the change At this point the internal Modbus baud rate is still configured for 9600 baud until the next initialization sequence takes place 5 Similarly change parameter F892 now Modbus parity amp stop bits from its factory default value of 1 no parity 2 stop bits to 2 even parity 6 Reset the drive once more Now when the drive and Multicom interface initialize the Multicom interface will initialize with Modbus RTU communications at 38 4kbaud and even parity The network configuration is now completed Once the network configuration parameters are configured for a specific network their settings for that network will be retained even if a different network is chosen and the second network s configuration parameters changed Continuing with the above example for demonstration even if a different network is chosen and parameters F891 F894 associated with that network are changed and then Modbus RTU communications are once again selected by changing parameter F890 to 1 the Modbus baud rate will still be set to 38 4kbaud and the parity will still be set to even when drive Multicom initialization has completed 8 1 Profibus DP Configuration When parameter F890 is selected for Profibus DP communications no additional ne
35. ces Installation of ASD systems and associated options should conform to the 1999 National Electrical Code Article 110 NEC Requirements For Electrical Installations all regulations of the Occupational Safety and Health Administration and any other applicable national regional or industry codes and standards DO NOT install operate perform maintenance or dispose of this equipment until you have read and understood all of the following product warnings and user directions Failure to do so may result in equipment damage operator injury or death 2 1 Installation Precautions e Use lockout tagout procedures on the branch circuit disconnect before installing DANGER Pinar the option into the ASD e Avoid installation in areas where vibration heat humidity dust metal particles or high levels of electrical noise EMI are present e Do not install the ASD or option where it may be exposed to flammable chemicals or gasses water solvents or other fluids e Where applicable always ground the option appropriately to prevent electrical shock to personnel and to help reduce electrical noise The ASD s input output and control power cables are to be run separately from the option s associated cables Note Conduit is not an acceptable ground e Turn the power on only after attaching the front cover e Follow all warnings and precautions and do not exceed equipment ratings e The ASD maintains a residual charge for a w
36. dbus holding register The reason for this offset is due to the fact that ASD registers begin at index 0 while Modbus holding registers begin at index 1 The only minor exception to the above 1 to 1 mapping takes place in the upper address registers in the ASD By inspecting the Toshiba Serial Communications Manual one can observe that the ASD registers are divided into two distinct regions within the full 0x0000 OxFFFF ASD register map the lower address range covers from 0x0000 to Ox09FF and the upper address range covers from 0xFA00 to OxFFFF not all values within those ranges access valid ASD registers of course For access consistency and because some Modbus clients are unable to access holding registers with indexes greater than 9999 0x270F the Multicom Modbus interface automatically maps all upper address ASD registers into the contiguous region immediately following the lower address range To take advantage of this feature simply drop the initial F on any register index in the upper address range and add 1 to that number to obtain the corresponding Modbus register and the register request will automatically access the correct internal ASD register For example if we wish to read ASD register 0xFE06 input terminal status we would change the OxFE06 to 0x0E06 and then add 1 to obtain the resultant Modbus register 0x0E07 3591 10 Therefore making a request to read Modbus register 0x
37. e s option frequency command and reading from attribute 110 G7 Output Frequency will always return the current value of the drive s operating frequency G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 68 TOSHIBA When the ODVA AC DC drive profile standard I O assembly instances are active the same concept detailed in the previous paragraph applies except that the first half of the AC DC drive object attributes are coupled to the actual ASD operation and the second half of the attributes are decoupled and should therefore be ignored 11 5 8 6 AC DC Drive Object Attribute Semantics This section will detail any specific information that may be useful when accessing the attributes of the AC DC Drive Object whether directly via explicit messaging or indirectly via I O assembly objects AtReference This attribute is 1 whenever SpeedActual is within 1 RPM of SpeedRef NetRef Maps directly to the speed reference priority bit bit 14 of the G7 command word refer to G7 Command Word below When this attribute and therefore command word bit 14 is 1 the option frequency command derived from SpeedRef when AC DC drive profile I O assemblies are active becomes the drive s active frequency command regardless of the ASD s Frequency Mode selection parameter When this attribute is a 0 the option frequency command will no longer override the Frequency Mode selection parameter b
38. e 1 OL eens Parameter write success acknowledge 1 Micra Error indication Note that the Multicom interface will respond with Resp1 Resp0 1 0 upon a successful parameter write regardless of whether the write was to RAM amp EEPROM or to RAM only Performing a parameter read or write action from the Profibus master involves the following process 1 Senda no action code Req1 0 and Req0 0 Every parameter access must begin from the idle state Once this state is sent the Profibus master must then wait for the Multicom interface to respond with an idle state acknowledge Resp1 0 and Resp0 0 2 Ifthe action is to be a data write set the parameter data in the parameter data write word If the action is to be a data read the parameter data write word value is irrelevant 3 Set the parameter number and action code Req and Req0 For an explanation of parameter numbers refer to section 9 7 4 Once the Multicom interface receives the read or write request it will begin processing it The time required to complete the request depends primarily on the specific register being requested and the drive s internal state at the time of the request but can vary from several milliseconds to several tens of milliseconds 5 Once the Multicom interface has completed the request it will place its response in the action bits response parameter number response and data error code response locations e Ifthe request was a read and the
39. e Attributes Attribute Access Nam Data Description Default ID Rules Type P Value 2 Get Number UINT Maximum number of 2 Available connections supported 11 5 2 353 Message Router Common Services Service Supported Service Name Description of Service tion of Service Description of Service Get Attribute Returns the contents of the specified Ox0E Single attribute 11 5 2 4 Message Router Specific Services The Message Router provides no object specific services G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 51 TOSHIBA 11 5 3 DeviceNet Object Class Code 0x03 The DeviceNet Object provides for the configuration and status of a DeviceNet port 11 5 3 1 DeviceNet Object Class Attributes Attribute Access Name Data Decisi n Default ID Rules Type P Value 11 5 3 2 DeviceNet Object Instance Attributes Te ace CSR oe Peer or fee E ee A O Bus Off Number of times CAN 5 Get Allocation STRUCT Information of Allocation ea MAC USINT MAC ID of master e The MAC ID and Baud Rate attributes are not settable via the network they are set via the drive s parameter settings Attempting a Set service will result in a Service Not Supported error e The setting of the BOI attribute is saved in the DeviceNet unit s internal EEPROM If the BOI value is set to TRUE the DeviceNet interface will attempt to restart the network interface on the occurrence of a CAN bus off event
40. e object specifications for all DeviceNet objects currently supported by the DeviceNet Interface Table 26 outlines those objects covered Table 26 Supported Objects assembly Object s For definitions of all data types referred to in these object specifications refer to the ODVA DeviceNet Specifications In general however the following are some of the most prevalent types SINT AAA Signed 8 bit integer value USIN Tetto Unsigned 8 bit integer value BYTE uo Bit string 8 bits INT tons Signed 16 bit integer value UINT ness Unsigned 16 bit integer value WORD Bit string 16 bits UDIN Tirini Unsigned 32 bit integer value G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 48 TOSHIBA 11 5 1 Identity Object Class code 0x01 This object provides identification of and general information about the device 11 5 1 1 Identity Object Class Attributes E Access Data e Default Max Maximum instance number of 2 Get instance UINT an object currently created in this class level of the device 11 5 1 2 Identity Object Instance Attributes Attribut Default number 2 Get Device UINT Indication of general type Type of product Product Identification of a 3 Get UINT particular product of an Code one individual vendor 4 Get Revision STRUCT Revision of the item the lt PNIS of Identity Object represents Revision Revision Serial number each unit Product SHORT Human r
41. e reference is RefFromNet from DeviceNet Frequency Frequency command in Command Hz x 100 Get Set Command Bit mapped command 0x0000 Word word 102 Get Set F831 Command UINT Write command value Data to selected item 103 Get Set F832 Command UINT Write command value Data to selected item 110 Get Output UINT Output frequency in Hz Frequency x 100 112 Get F841 Status UINT Read status value from Data selected item 113 Get F842 Status UINT Read status value from Data selected item G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 67 Get Set TOSHIBA bal Default 120 Get Set Universal UINT Universal ASD data Register register address 11 5 8 3 AC DC Drive Object Common Services Service Supported Service Name Description of Service Code Single attribute Single attribute 11 5 8 4 AC DC Drive Object Specific Services The AC DC drive object provides no object specific services 11 5 8 5 AC DC Drive Object Detailed Explanations As can be seen in the table in section 11 5 8 2 the AC DC drive object is comprised of two independent portions a standard portion which is associated with the ODVA s AC DC drive profile the attributes above the dual wavy table separator lines and an extended portion which is vendor specific for the Toshiba G7 ASD the attributes below the table separator lines With the exception of the Universal Register and Universal Data attributes
42. e to be monitored can now be accessed simply by issuing 1 holding register read command with a length of 4 starting from Modbus register 0x0C00 The returned data will be the data obtained from ASD registers OxFDOO 0xFE01 OxFE04 and OXxFEOS in that order Notes e PPR address register setting values are MODBUS registers That is Modbus registers ASD registers 1 e PPR address registers are updated immediately when changed no drive reset is required e The values of the PPR address registers 0x0C20 0x0C3F are stored in the Modbus interface s nonvolatile EEPROM Therefore do not write to any of these registers more than 100 000 times Typically these registers would only be written to once when the drive and Modbus network are first commissioned 10 2 7 Response Delay Timer Function As mentioned in section 8 2 ASD parameter F893 contains the setting for a response delay timer function This function is useful for applications where it may not be desirable for the Modbus interface to respond immediately to the network after a read write request An example of this may be when a radio modem that must be switched from receive mode to transmit mode is being used The response delay timer is adjustable in 10ms increments from 0s to 2 00s factory setting 0s A response delay of 0s means that there is no artificial delay inserted response packets will be sent by the Modbus interface as soon as they are available When non zero
43. e to reset the drive to validate the changes e Data range checking is not performed on command scan items Ifa value outside of a specific item s valid range is written to the Modbus interface that value will be accepted by the interface but ignored by the drive e Command scan data is written to drive RAM only and therefore not retained when power is lost e Initial values for command scan data before the first network update is received are 0 e Basic command Modbus register 0x0A07 and extended command Modbus register 0x0A24 registers for these command words to have an actual effect on the drive s operation either the drive s command mode selection parameter must be set such that option board commands are valid or the option priority bit bit 15 of the basic command word must be set via Modbus communications e Basic command Modbus register 0x0A07 for a detail of this register refer to Table 10 on page 23 e Extended command Modbus register 0x0A24 for a detail of this register refer to Table 11 on page 23 e Option board frequency command Modbus register 0x0A08 for this value to have an actual effect on the drive s operation either the drive s frequency mode selection parameter must be set such that option board frequency command is valid or the option priority bit bit 14 of the basic command word must be set via Modbus communications 10 2 5 Supported Modbus Functions The
44. eadable Toshiba A Sl Name identification Multicom STRING ASD Interface G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 49 TOSHIBA 11 5 1 3 Identity Object Common Services Service Supported Service Name Description of Service Code Single attribute device Please note the following items about the Reset service The Reset service resets only the interface board s DeviceNet driver not the drive into which the interface is installed Both Type 0 and Type 1 resets are supported With a Type 0 reset the DeviceNet driver is simply reset With a Type 1 reset the DeviceNet object s BOI attribute is returned to its factory default setting and then the DeviceNet driver is reset All other nonvolatile DeviceNet related configuration parameters are accessible via drive parameters F891 F894 and can therefore be modified via the drive s front panel if desired 11 5 1 4 Identity Object Specific Services The Identity Object provides no object specific services G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 50 TOSHIBA 11 5 2 Message Router Class code 0x02 The Message Router Object provides a messaging connection point through which a Client may address a service to any object class or instance residing in the DeviceNet interface unit 11 5 2 1 Message Router Class Attributes a Access Data ON Default 11 5 2 2 Message Router Instanc
45. ect on drive operation Note 2 Although not disallowed avoid configuring both scan command data parametes F831 and F832 with the same command data selection for example do not set both F831 and F832 to 3 etc Unexpected drive behavior could result if different data values are written to the corresponding command locations Note 3 Parameters F831 and F832 are only validated on drive reset or power up Therefore if either of these parameters is changed be sure to reset the drive to validate the changes gt Note 4 Data range checking is not performed on command scan items If a value outside of a specific item s valid range is written to the attribute either via explicit messaging or an I O assembly object that value will be accepted by the Multicom interface but ignored by the drive Item 16 in Table 27 extended command is a bit mapped drive command word internally located at parameter 0OxFA23 Table 11 on page 23 provides the format of this extended command word Output Frequency Unsigned 16 bit value whose value is the current ASD operating frequency multiplied by 100 For example if the ASD is currently running at 55 34Hz then this attribute will be 55 34 x 100 5534 0x159E G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 70 TOSHIBA Status Word Bit mapped ASD status word Table 14 on page 26 provides the format of this status word F841 Status Data F842 Status D
46. ed by the setting of attribute 12 watchdog timeout action in the polled I O connection object of the connection class The polled I O connection s watchdog timeout action can take on the following three values 0 Transition to timed out This is the default value The connection transitions to the timed out state and waits in this state until the connection is reset or deleted 1 Auto delete The connection is automatically deleted 2 Auto reset The connection remains in the established state and the inactivity watchdog timer is restarted When the polled I O connection s watchdog timeout action attribute is configured with a value of either 0 transition to timed out or 1 auto delete the drive s behavior upon loss of communications is controlled by the setting of ASD parameter F892 When the polled I O connection s watchdog timeout action attribute is configured with a value of 2 auto reset no drive action occurs during a timeout condition the drive continues to operate at its last conditions By appropriately configuring ASD parameter F892 therefore it is possible to create a solution that can provide some level of system failsafe operation in the event of master loss or total network failure DANGER SAFETY WARNING Because some of these settings will enable the drive to run automatically the user must ensure that their system poses no danger of personal injury or equipment damage as they may no lo
47. edback Filtered speed feedback 6 f Output current OxFEO3 f Ox0F04 3588w0 Excitation current 8 Torque current OxFE20 f 0x0E21 36170 9 Overload value Accel Decel torque reduction Fault code G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 39 TOSHIBA Table 22 provides a list of the available write command scan selections These are selectable via drive parameters F831 F835 which allows a total of five write scan registers to be configured Table 22 Drive Command Scan Data F831 F835 i No selection NA RESERVED NA SD N A N A N A N A N A N A N A OxFA08 0x0A09 256910 0x0A35 261310 Positive torque limit 0x0442 109010 Negative torque limit 0x0444 109210 7 0x0A34 261210 Speed torque bias 0x0727 183110 Tension torque bias 0x0728 183210 10 0x0729 183310 11 Drooping gain 0x0321 80110 12 0x0377 88710 13 0x0378 88810 14 0x0A51 26410 15 0x0A36 261410 16 PRESERVED WA N A G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 40 TOSHIBA Scan Register Notes e Items marked as RESERVED in Table 22 are reserved for future use Selecting one of the corresponding values as command scan data will have no effect on drive operation e Configurable scan register selection parameters F831 F835 and F841 F846 are only validated on drive reset or power up Therefore if any of these parameters are changed be sur
48. eset speeds can be set via ASD parameters F018 F024 and F287 F294 Note that the drive will not react to the preset speed commands unless it is operating from the network command source at the time of the watchdog timeout Also note that the drive s RUN STOP command is not modified when these settings are selected Therefore the drive will not actually run the preset speed if it was not already being issued a RUN command at the time of the watchdog timeout G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 74 TOSHIBA 12 Notes G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 75 TOSHIBA TOSHIBA INTERNATIONAL CORPORATION INDUSTRIAL DIVISION 13131 West Little York Rd Houston TX 77041 Tel 800 231 1412 713 466 0277 Fax 713 466 8773 World Wide Web http www tic toshiba com Printed in U S A
49. evices including e Installation e System operation and e Mechanical and electrical specifications TOSHIBA Table of Contents 1s UNC OO UCU ON ii il 2 AAA A A amp 2 1 Installation Precautions ii dit 2 2 2 Maintenance Precautions enea er een fe nende a a snedker 3 2 3 Inspection e ee 3 2 4 STOP LS A A abe nese 3 2 5 Disposal scciics ts sent cove e teca edo 3 3 Board OVCEVICW A RT Ais Instalati A NR CNT 4 1 Tnistallati om PACA a a EE oedsees 5 4 2 O Re a 7 5 Environmental SpecificatioNS ocoomossmssscs 6 PG Feedback Operation ssesssesssesssocesooesooessosssoesssecssoossoosssosssseessesssosssoossssssssee O 6 1 PG Feedback Enable Setting san oa a arar a a E E E E E S Kaar Ea he 8 6 2 PG Power Supply Voltage Selection sessesessseeseseeesseeresstsreseesetseeseesesstsressesreseesersesseenessrseeseeee 8 6 3 Pulse Input Selection la aiir 9 6 4 PG Feedback Connect On 4423 aaa ia 10 6 5 Maximum Input Frequency Using an Open Collector EncodeT ooooncnnncnnonoccnonoconoconccnncnnnonnnonnos 13 To E D D ELI EREA E AEE E LG 8 Network Configuration Parameters eoessoessosssoesssesssooesoossoossssesssesssoossoosssosss 15 8 1 Profibus DP Configuration iensor ner R EAR E E he fe deen ar R 16 8 2 Modbus RTU Configuration ccccccccscessesssesseeescessceccesecesecaeecaeecaeecaeeeaeeeseseeeeseesaecsaeeseeeneeenes 17 8 3 DeviceNet COMU ai 18 9 Profibus Interact 1O 9 1 F
50. gnostics status update is generated indicating the drive s exit from the faulted state G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 31 TOSHIBA 9 6 Asynchronous Drive Parameter Access 9 6 1 Parameter Number Action Output Words To access drive parameters 2 output words and 2 action bits are provided in the drive s output data structure The structure of these output words and action bits is as follows Action Bits Bit 15 14 13 12 11 8 7 4 3 0 alee gt gt e Sa Sa iow low E g 212 Reserved m mM Action bits offset 32 Reserved offset 33 Parameter Number Word Bit 15 12 11 8 7 4 3 0 Parameter number Parameter number Parameter number high byte offset 34 low byte offset 35 Parameter Data Write Word Bit 15 12 11 8 7 4 3 0 Parameter data Parameter data to write high byte offset 38 Parameter data to write low byte offset 39 Note that all locations marked Reserved are ignored by the Multicom interface G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 32 TOSHIBA 9 6 2 Parameter Number Action Input Words The response by the Multicom interface to parameter read and write requests is placed in 2 input words and 2 input bits of the input data structure The structure of these data items is as follows Response Bits Bi
51. he ODVA AC DC Drive Profile Basic Speed Control Output assembly For more information refer to the ODVA DeviceNet Specifications and the object explanations in this manual related to each of the fields of this assembly instance AA 11 5 4 5 2 Output Instance 21 Extended Speed Control Output This is the ODVA AC DC Drive Profile Extended Speed Control Output assembly For more information refer to the ODVA DeviceNet Specifications and the object explanations in this manual related to each of the fields of this assembly instance newer rect gt lt gt lt raters teni Ran Fa Speed Reference Low Byte 3 Speed Reference High Byte G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 55 TOSHIBA 11 5 4 5 3 Output Instance 100 Toshiba ASD Command This is a vendor specific output assembly instance that provides direct access to the most critical control components of the G7 ASD For more information refer to the explanations for the referenced attributes contained in the AC DC Drive Object in section 11 5 8 6 on page 69 Note that bytes 0 and 1 are mapped to the G7 Command Word attribute attribute ID 101 of the AC DC Drive Object the specific bits of this command word are shown in detail in the following table simply for ease of use DC Inject PI Control Brake Excitation Command Speed Ref Control Error Count FWD Priority Priority Selection POF dia 2 Freq
52. hile after turning the ASD off Wait at least ten minutes before servicing the ASD after turning the ASD power off Ensure that the Charge LED is off prior to beginning installation e For further drive specific precaution safety and installation information please refer to the G7 Adjustable Speed Drive Operation Manual supplied with your drive G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 2 TOSHIBA 2 2 Maintenance Precautions DANGER e Use lockout tagout procedures on the branch circuit disconnect before servicing the ASD or installed option e The ASD maintains a residual charge for a while after turning the ASD off Wait at least ten minutes before servicing the ASD after turning the ASD power off Ensure that the Charge LED is off e Do Not attempt to disassemble modify or repair the option card Call your Toshiba sales representative for repair or service information e Turn the power on only after attaching the front cover and Do Not remove the front cover of the ASD when the power is on e Ifthe ASD should emit smoke or an unusual odor or sound turn the power off immediately e The heat sink and the discharge resistors may become extremely hot to the touch Allow the unit to cool before coming in contact or performing service on the ASD or option card e The system should be inspected periodically for damaged or improperly functioning parts cleanliness and to determine that the connecto
53. ich is reserved for Modbus broadcast transmissions To be valid this parameter must be set to a value between 1 and 247 If parameter F802 is 0 or 248 255 when Modbus communications are initialized the Multicom interface s Network Status LED the lower LED will flash red to indicate the configuration error and network communications will not be enabled If ASD control frequency command input RUN STOP etc is to be performed via the Modbus network then the drive s Command Mode Selection and or Frequency Mode Selection parameters must be configured to use the communication card as the drive s command source location or the option priority bits of the basic command word Modbus register 0x0A07 must be set accordingly For information on the specific setting methods and values of the Command Mode and Frequency Mode Selection parameters please refer to the G7 Adjustable Speed Drive Operation Manual 10 2 2 Communication Formats A brief note about Modbus communication formats According to the Modicon Modbus Protocol Reference Guide the specifications for the Modbus RTU communication mode is as follows Coding System 8 bit binary hexadecimal 0 9 A F Two hexadecimal characters contained in each 8 bit field of the message Bits per Byte 1 start bit 8 data bits least significant bit sent first 1 bit for even odd parity no bit for no parity 1 stop bit if parity is used
54. n produced _ Number of bytes in G connection UINT produced connection path length _path attribute Specifies Application G ones Array of Object s whose data is 20 04 24 ath USINT to be produced by this 96 30 03 p connection Number of bytes in consumed _ ed G connection UINT Hae ath length connection_path path attribute FEBER ENDE Specifies Application ase Array of Object s whose datais 20 04 24 G connection _ ath USINT to be consumed by this 64 30 03 p connection ERES Defines minimum time G pror yemon UINT between new data inhibit_time production UINT UINT INT et et et et et et et et et et et et et G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 60 TOSHIBA 11 5 5 3 Connection Class Common Services Service Supported 5 ale 7 Service Name Description of Service Oe ne Service Name Deseription of Service 0x05 No Yes Reset Used to reset all resettable connection objects Ox0E y y Get Attribute Returns the contents of the i pe se _ Single specified attribute Set_ Attribute Modifies the value of the 11 5 5 4 Connection Class Specific Services The Connection Class provides no object specific services G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 61 TOSHIBA 11 5 6 Control Supervisor Object Class Code 0x29 The Control Supervisor Object models all the management functions for devices within the hierarchy of Motor
55. n Option and PG Feedback Option Manual 38 TOSHIBA 10 2 4 ASD Scan Registers Although all available ASD command status and configuration data is accessible via the Modbus interface there are certain fundamental command and status registers that virtually all applications will likely find useful These fundamental registers will probably be accessed quite frequently and priority handling of these select registers would therefore benefit network throughput For this reason certain ASD registers can be configured for special handling which provides very fast access response These registers are referred to as scan registers The Multicom Modbus interface provides three types of scan registers 1 Fixed read or write 2 Configurable read status 3 Configurable write command The fixed scan registers listed in Table 20 These registers provide fast response to the indicated read or write request at all times Table 20 Fixed Scan Registers ASD Read OxFA06 0x0A07 25671 0xFA23 0x0A24 259610 Extended command 0xFA07 0x0A08 256810 Option board frequency command OxFE58 0x0E59 3673 10 Output frequency Table 21 provides a list of the available read status scan selections These are selectable via drive parameters F841 F846 which allows a total of six read scan registers to be configured Table 21 Drive Status Scan Data F841 F846 ASD N A O Noselection wa wa Real time speed fe
56. n and the selected network The primary network selection is chosen by parameter F890 refer to Table 4 Table 4 Network Selection Network 0 Profibus DP F890 1 Modbus RTU Selection 2 DeviceNet The function and adjustment ranges assigned to parameter F890 are fixed that is to say that parameter F890 is always the Network Selection parameter The functions and adjustment ranges of the remaining network configuration parameters F891 F894 however will vary based on the setting of parameter F890 For example when parameter F890 is configured for Profibus DP communications then parameter F891 is unused and its upper and lower adjustment limits will both be 0 When parameter F890 is configured for Modbus RTU communications however then parameter F891 is used to select the Modbus network baud rate and its adjustment range then becomes 0 7 As previously mentioned the values of the Network Configuration Parameters are validated by the Multicom interface only during a drive initialization procedure Therefore when the drive and the Multicom interface are initializing the settings of the Network Configuration Parameters are read and internally saved by the Multicom interface These internally saved values will not change until the next initialization procedure For this reason two drive resets may be required when modifying the Network Configuration Parameters one to change and validate the network selection par
57. ned in the parameter data error code field of the acyclic data G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 35 TOSHIBA 10 RS 485 Interface This section applies to ASD MULTICOM A option boards only 10 1 Physical Layer Figure 3 shows the physical layer for the RS 485 portion of the Multicom interface This circuit diagram is provided as an aid to the system network designer to ensure that externally connected circuitry will provide the required voltages etc necessary for sufficient and robust communications P5ISO R37 47k A e gt TB1 9 RS 485 a ZD1 703 ot gt TB1 10 NETWORK R38 AZ 6 2V 6 2V des ZD2 ZD4 6 2V 6 2V Vonpiso Vonoiso Yenniso TB1 11 R26 200 GNDISO Figure 3 RS 485 Physical Layer G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 36 TOSHIBA 10 2 Modbus RTU 10 2 1 Configuration Besides the Modbus network selection and configuration parameters F890 F894 described in Section 8 2 the only other ASD parameter requiring configuration is the ASD s Inverter Number parameter F802 This parameter setting is used as the drive s Modbus station address Some important points to note regarding parameter F802 e Parameter F802 is only validated after a drive reset Therefore if this parameter is changed remember to reset the drive to validate the change e The standard factory setting for parameter F802 is 0 wh
58. nger be able to control the drive from the network due to the loss of communications ASD parameter F892 provides the following selections also refer to Table 7 on page 18 Set all consumed data to 0 Retain last data values Issue STOP command to drive Issue EMERGENCY OFF command to drive 18 Run preset speed 1 15 BRWNr OS Setting 0 This is the default setting When network communications are lost the consumed I O data will be set to 0 This will have the effect of stopping the drive and setting its frequency command to 0 00Hz Note that the drive will not react to the effective STOP command etc unless the drive s command mode selection parameter is set to use the option card as its command source Setting 1 The last consumed data is retained Setting 2 A STOP command is issued to the drive Note that the drive will not react to the STOP command unless it is operating from the network command source at the time of the watchdog timeout Setting 3 An EMERGENCY OFF command is issued to the drive Note that the drive will not react to the EMERGENCY OFF command unless it is operating from the network command source at the time of the watchdog timeout The drive s behavior during an EMERGENCY OFF event can be configured via ASD parameter F603 G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 73 TOSHIBA Settings 4 through 18 Command the drive to run preset speeds 1 15 Pr
59. ome of these status items follow Table 15 Table 15 Drive Status Scan Data F841 F846 ee 2 Setting Noselection f _ OFFF Alarm code monitor OFFI Operating speed Real time speed feedback 0 01Hz 0 01Hz 0 01 0 01 7 0 01 0 01 0 0 65535 0xFE33 Faultcode oroo Input terminal f _ __ oxFB0 0 12 13 14 0 01 10000 15 6 Overload value 0 10000 OxFE59 0 10 Accel Decel torque 32767 32767 OxFE60 reduction 1 0 01 0 10000 OxFE35 0 01 10000 10000 0xFE37 gt Note 1 Parameters F841 F846 are only validated on drive reset or power up Therefore if any of these parameters are changed be sure to reset the drive to validate the changes 1 G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 27 TOSHIBA Alarm Code Monitor Bit mapped alarm code monitor word internally located at parameter OxFC91 Table 16 provides the format of this alarm code monitor word Table 16 Alarm Code Monitor Word Format mm E E 15 Reserved 14 Reserved o o o o 13 Reserved logic RS 485 message transmission 11 Communication error alarm N A Alarm on lea E E High Byte N 9 Dynamic braking resistor overload alarm NA Alarmon 8 Over torquealarm WA Alarmon 6 Lowcontrolpoweralam NA Alarmon 2 E 3 O Over currentalarm WA Aamo Fault Code
60. on and PG Feedback Option Manual 5 TOSHIBA Install the 51326A connector PCB in the control board s 80 pin connector making sure that the connector is fully seated Next position the option card and snap the connectors together Finally secure the card to the standoffs with the remaining pan head screws see Figure 2 If your option card is equipped with a data connector along its right side edge you will need to remove the side access window of your drive s cover before reinstalling it Place the cover upside down on a level surface see Figure 3 and with downward pressure on your utility knife cut along the two vertical grooves Next bend the resulting flap back and forth several times until it snaps apart Clean up the opening as necessary and reattach the front cover to the drive Bend and break apart Cut these two edges G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 6 TOSHIBA 4 2 Wiring e Use shielded wire for control signals and ground the unit with shielded wire e Applicable wire size for terminal block TB1 is 0 2 to 2 5mmY e Strip off the end of the wire by about 5mm e For connecting wires use a screwdriver that has a blade tip of 0 4mm thickness and 2 5mm width e Tightening torque of the terminal block screws should be 0 22 to 0 25Nm e Never route the signal or communication network lines and main circuit power wires together Separate the signal and communication network
61. parameter number and parameter write data words Also as long as the master sends the no action code the Multicom interface will loop back in the parameter number response word and parameter data error code response word whatever data is sent to it in the corresponding output words 9 6 4 Register Access Error Codes When a parameter read or write error occurs one of the following error codes will be returned in the parameter data response word Error Code Meaning 0x0000 nsss cannot execute access error 0x0001 noaee data error written data value outside of valid range 0x0002 0 0 eects invalid parameter number 0x0064 oe attempt to write to a read only parameter 0x0065 eee attempt to read from a write only parameter IT other unclassified error 9 7 Parameters The parameters that can be accessed via the parameter access method outlined in section 9 6 are defined in the Toshiba 45D Operation Manual and or the ASD Serial Interface Manual The accessible parameters their access behaviors and data ranges may vary depending on the drive s firmware revision The following parameters which are not implemented in the drive are used to access local information on the Multicom interface Multicom interface firmware High byte firmware version OxFC82 BER Read only jeg version revision Low byte firmware revision If an attempt is made to write to this register error code number 0x0064 WRITE TO READONLY will be retur
62. read was performed successfully this will be indicated to the master by Resp1 Resp0 changing from 0 0 to 0 1 The parameter number response will equal the accessed parameter number and the resulting data read will be placed in the data error code response word e Ifthe request was a write and the write was performed successfully this will be indicated to the master by Resp1 Resp0 changing from 0 0 to 1 0 The parameter number response will equal the accessed parameter number and the data written to the drive will be reflected in the data error code response word e Ifan error occurred during the read or write request this will be indicated to the master by Resp1 Resp0 changing from 0 0 to 1 1 The parameter number response will equal the parameter number that the master was attempting to access and an error code reflecting the failure cause will be placed in the data error code response word For a list of possible error codes refer to section 9 6 4 G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 34 TOSHIBA 6 In order to perform another parameter read or write the master must once again send a no action code Req1 0 and Req0 0 and the Multicom interface must once again respond with an idle state acknowledge Resp1 0 and Resp0 0 before the next read or write action can take place Until a no action code is sent to the Multicom interface the interface will ignore all data in the action bits
63. registers 32 total are the actual registers used to access the data pointed to by the address registers For example if you would like to continuously read the data from ASD registers OxFDOO 0xFE01 OxFE04 and OxFEOS the standard Modbus register configuration would require 3 read commands to be issued one reading 1 Modbus register starting at register Ox0D01 one reading 1 Modbus register starting at register 0x0E02 and one reading 2 Modbus registers starting at register 0x0E05 recall the 1 offset between drive and Modbus registers To conserve network bandwidth and speed processing time however the PPRs can be used to allow the same information to be accessed but by only issuing 1 command which reads 4 Modbus registers To configure this function program as many address registers as necessary up to 32 in the 0x0C20 0x0C3F range with the Modbus register numbers you would like to continuously access In this example we would write a value of 0x0D01 the first Modbus register we want to access to register 0x0C20 a value of 0x0E02 to register 0x0C21 a value of 0x0E05 to register 0x0C22 and a value of 0x0E06 to registers 0x0C23 The data located at the relevant drive registers can then be obtained by accessing the corresponding data registers in the 0x0C00 0x0C1F range data register 0x0C00 corresponds to address register 0x0C20 data register 0x0C01 corresponds to address register 0x0C21 etc Therefore the 4 registers that ar
64. requency command exceeds limiting drive parameters such as the Upper Limit Frequency or Maximum Frequency then the drive will ignore it maintaining its current setting Command Word G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 69 TOSHIBA Bit mapped drive option command word Table 10 on page 23 provides the format of this command word F831 Command Data F832 Command Data Via ASD parameters F831 and F832 the user has the ability to select two additional high speed scan command items to be written to the ASD Table 27 provides a list of the available command scan data selections The Parameter column indicates the drive s internal parameter to which the corresponding selection is mapped Once selected the corresponding command data for the selected scan items can be written to the drive via AC DC drive object attributes 102 and 103 Table 27 Drive Command Scan Data F831 F835 ASD O Noselection OXPFFFF 1 RESEEVD gt 22 PRESERVED MORA AU Y 6 Negative torque limit 0 01 0 25000 0x0443 8 Speed torque bias 0 01 25000 25000 0x0726 9 Tension torque bias 0 01 25000 25000 0x0727 14 Outputterminals OxFASO 16 Extendedcommand____ __ oraz Note 1 Items marked as RESERVED in Table 27 are reserved for future use Selecting one of the corresponding values as command scan data will have no eff
65. rker is necessary The polarity of the pulse input signals should be as follows Side PGA1 PGB1 PGZ1 Side PGA2 PGB2 PGZ2 Table 3 Terminal description for TB1 Name PG feedback input Selectable Pulse train speed command input line driver open collector Phase A input Maximum input frequency PG feedback input 60kpps 2 phases Pulse train speed command input 120kpps single phase Phase B input Pulse duty cycle PG feedback input 50 10 Pulse train speed command input Minimum input current requirement Phase Z input 2 5mA Selectable 5VDC 6VDC 12VDC 15VDC PG power supply terminal G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 10 TOSHIBA The pulse input signals should have the waveform of the figure below in terms of motor rotation direction The encoder installation direction and signal wiring should be done accordingly Forward rotation or reverse rotation is determined from the quadrature orientation of the Phase A and Phase B feedback pulses Therefore it should be noted that when connections are wrong there is a possibility for abnormal rotation of the motor Forward rotation Reverse rotation Phase A Phase A Phase B Phase B FEDE SEER PGA1 ARAK PGA2 T Phase difference Xn20 15T n 1 2 3 4 PGB2 When single phase PG feedback is used connect to terminals PGA1 and PGA2 only The determination of forward rotation and re
66. rs are tightened securely 2 3 Inspection Upon receipt perform the following checks e Inspect the unit for shipping damage e Check for loose broken damaged or missing parts Report any discrepancies to your Toshiba sales representative 2 4 Storage e Store the device in a well ventilated location in its shipping carton if possible e Avoid storage locations of extreme temperatures high humidity dust or metal particles 2 5 Disposal e Contact the local or state environmental agency in your area for details on the disposal of electrical components and packaging e Do not dispose of the unit via incineration G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 3 TOSHIBA 3 Board Overview DIP Switch DS1 Refer to Sections 6 1 amp 6 2 MMI Port Reserved Module Status Network Status LEDs Refer to network sections DeviceNet Connector Refer to Section 11 Pulse Input Selection Refer to Section 6 3 DATA EXCHG LED E m o Refer to Section 9 1 PG Feedback Terminals Refer to Section 6 4 RS 485 Terminals Refer to Section 10 Control Board Connector Refer to Section 4 DIP Switch DS3 Currently reserved leave in OFF position Profibus Connector Refer to Section 9 PG Circuit Ground Refer to Section 6 4 a 1000000000030 FS gt Q I Zz a oO oooon 9 0000 o NOTE No
67. rs that can be accessed are defined in the Toshiba ASD Operation Manual and or the ASD Serial Interface Manual In addition the accessible registers their access behaviors and data ranges may vary depending on such issues as the drive s capacity and control firmware revision Table 24 lists the Modbus registers that access local information on the Multicom interface These items are also indicated in Table 25 Table 24 Local Modbus Interface Access Modbus Register Read Write Adjustment Range 0x0C00 0x0C1F PPR data registers ae OxFCO00 0xFC1F 8 register According to referenced register 0x0C20 0x0C3F 0x0001 OxFFFF OXFC20 0xFC3F PPR address registers Read Write L10 6553549 Multicom interface 0x0C82 OxFC82 firmware Read only version revision High byte firmware version Low byte firmware revision G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 43 TOSHIBA Modbus Register Map FFFF FC83 FC82 FC81 FC40 FC3F FC20 FC1F FCOO FBFF FAO1 FAOO 1001 1000 0C83 0C82 0c81 0C40 0C3F 0C20 0C1F 0C00 OBFF 0A01 0A00 0001 Table 25 Register Map Overview ASD Register Map FFFF FFFE FC82 FC81 FC80 Comments ASD Access Access Interface Firmware Version Access PPR address registers
68. s Attributes Attribute Access Name Data Dejan Default 1D Rules Type P Value 11 5 4 2 Assembly Object Instance Attributes The Multicom DeviceNet unit contains 6 static assembly instances with assigned instance IDs 20 21 70 71 100 and 150 Refer to section 11 5 4 5 for more details Attribut Default Get or The data contained in Output instances 20 21 and 100 can be accessed via the Get and Set services whereas input instances 70 71 and 150 can only be accessed via the Get service 11 5 4 3 Assembly Object Common Services Service Supported Service Name Description of Service tion of Service Description or Service Ox0E Get_Attribute Returns the contents of the F _Single specified attribute Output instances Set_Attribute Modifies the value of the 0x10 N A i q only _ Single specified attribute 11 5 4 4 Assembly Object Specific Services The Assembly Object for static assemblies provides no object specific services 11 5 4 5 Assembly Instance Details As mentioned previously the Multicom DeviceNet Interface provides the option of three different I O assembly instance sets The active set is chosen via ASD parameter F893 refer to section 8 3 Whenever changing the active assembly set always remember to reset the drive to active the change G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 54 TOSHIBA 11 5 4 5 1 Output Instance 20 Basic Speed Control Output This is t
69. s is set via parameter F802 inverter number parameter Although parameter F802 has an adjustment range from 0 255 only 0 126 is an allowable addressing selection for the Profibus network Therefore if parameter F802 is set to 127 through 255 the Multicom interface will default to an address of 126 G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 21 TOSHIBA 9 4 Profibus Exchanged Data Structures 9 4 1 Output Control Data Format The size of the output data structure from the network master to the Multicom interface is modular and selectable from 4 to 40 bytes The allocation of the maximum 40 bytes of the data structure is comprised of 1 fixed four byte command 1 fixed four byte extended command 1 fixed four byte speed reference 5 configurable four byte scan data selections selectable via drive parameters F831 F835 and 1 eight byte structure for asynchronous parameter accesses Refer to Table 9 for details 1 1 1 1 1 1 1 1 7 1 0 1 2 3 4 5 6 7 9 Table 9 Output Control data Extended command low byte Speed reference high byte Speed reference low byte Parameter F831 setting high byte arameter F831 setting low byte arameter F832 setting high byte Parameter F832 setting low byte Parameter F833 setting high byte Parameter F833 setting low byte Parameter F834 setting high byte Parameter F834 setting low byte P A a a al Reserved Locations marked Reser
70. s not performed on command scan items If a value outside of a specific item s valid range is written to the drive that value will be accepted but ignored by the drive G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 24 TOSHIBA e Action Bits Parameter Number Offsets 32 35 Parameter action bits and 16 bit parameter number Refer to section 9 6 for a detailed explanation of these items e Parameter Data Offsets 38 and 39 During parameter writes this contains the data to write Refer to section 9 6 for a detailed explanation of this location 9 4 2 Input Status Data Format The size of the input data structure from the Multicom interface to the network master is modular and selectable from 4 to 40 bytes The allocation of the maximum 40 bytes of the data structure is comprised of fixed four byte status fixed four byte output speed reference 6 configurable four byte scan data selections selectable via drive parameters F841 F846 and eight byte structure for asynchronous parameter accesses Refer to Table 13 for details Table 13 Input Status data 20 Parameter F844 setting high byte AAA PA AA 39 Parameter data response low byte Locations marked Reserved in the above table are reserved for future use Presently all Reserved input data is set to O by the drive Future releases of the drive firmware however may use these locations for data transfer G7 A
71. size connection denned Defines timing Get Set P U associated with this packet_rate S connection tch ivi 12 Get Set _wate dog_ USINT Inactivity watchdog timeout_action timeout action prodived Specifies Application union Array of Object s whose data is path USINT to be produced by this connection Number of bytes in consumed_ connection UINT consumed path leng th connection path attribute Specifies Application eer Array of Object s whose data is path USINT tobe consumed by this connection produced_ Number of bytes in connection_ UINT produced_connection path length _ path attribute pact Defines minimum time A UINT between new data inhibit time production G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 59 TOSHIBA 11 5 5 2 2 Poll Connection Object Instance Attributes Attribute Access or Default type trigger G produced _ UINT Placed in CAN ID field 0x03C0 connection_id when transmitting MAC ID SEE CAN ID field value 0x0405 G ees UINT denoting received MAC ID connection_id z messages ae Defines producing initial comm S G are USINT consuming message _ characteristics produced Max number of bytes G _connection transmitted across this _ size connection consumed Max number of bytes G _connection received across this _ size connection peed Defines timing Get Set p U associated with this packet_rate a connection timeout_action timeout actio
72. t 15 4 13 2 11 8 7 4 3 0 213 amp gt gt 9 9 a a Reserved glg Action response bits offset 32 Reserved offset 33 Parameter Number Response Word Bit 15 12 11 8 7 4 3 0 Parameter number Parameter number response high byte Parameter number response low byte offset 34 offset 35 Parameter Data Error Code Response Word Bit 15 12 11 8 7 4 3 0 Parameter data error code Parameter data response Parameter data response high byte offset 38 low byte offset 39 Note that all locations marked Reserved are set to 0 by the Multicom interface G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 33 TOSHIBA 9 6 3 Drive Parameter Access Procedure In order to read from a drive parameter or write to a drive parameter two control bits are provided in the drive s output data structure These bits labeled Req1 and Req0 in the Action Bits word can have the following values Regl Req0 Meaning 0 Osten No action idle state 0 sais Parameter read 1 Dent Parameter write RAM amp EEPROM 1 E Parameter write RAM only Similarly when the drive responds to a parameter read or write request two status bits are provided in the drive s input data structure These bits labeled Resp1 and Resp0 in the Action Bits Response word can have the following values Resp1 Resp0 Meaning 0 Ou cece No action idle state acknowledge 0 endnu Parameter read success acknowledg
73. t all indicated items are available on ASD MULTICOM B G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual TOSHIBA 4 Installation 4 1 Installation Procedure The interface cards for the G7 ASD have been designed for quick and simple installation The card is connected to the drive s control board via an 80 pin connector and is mechanically supported with nylon standoffs attached through the control PCB to the chassis The only tools required for installation are a flat screwdriver a 2 Phillips screwdriver and for most installations a utility knife to aid in the removal of the front cover s side access window Each interface card kit includes one 51326A connector PCB and four 47220 nylon hex standoffs Before opening the drive please observe all safety precautions as outlined on the unit s front cover and in the operation manual After securing the unit against hazardous voltages loosen the two lower fasteners and remove the cover taking care not to damage the keypad to drive cable connection Remove the four pan head screws that secure the control PCB to the drive refer to Figure 1 and replace with the 47220 1 2 hex standoffs provided Make these substitutions one or two fasteners at a time to prevent any shifting of the control board 51326A 47220 47220 Figure 1 Screw Removal Standoff and Connector PCB Installation G7 ASD Multi Protocol Communication Opti
74. the delay timer starts when a complete packet is received and a response will not be sent until the timer has expired at a minimum Note that this time value only sets a minimum response delay value depending on the quantity and location of G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 42 TOSHIBA registers read written more time may actually be required by the Modbus interface before a complete response is formulated and ready to be returned to the network The response delay timer value is read only upon initialization Therefore if the delay value is changed the drive must be reset for the new value to take effect 10 2 8 LED Indicators If the ASD s Inverter Number parameter F802 is not set to a value between 1 and 247 the Module Status LED will flash red upon initialization to indicate the configuration error Whenever a faulty Modbus packet is detected the Network Status LED will briefly flash red to indicate the faulty packet This can be used as a helpful indicator when communications are not working and will usually be the result of incompatible network settings baud rate parity etc or reversed RS 485 wires 10 2 9 Register Summary Table 25 presents an overview of all accessible information within the entire Modbus register map Although the majority of the mapping directly accesses the corresponding ASD registers not all ASD registers are available The specific ASD registe
75. twork configuration is required The additional Network Configuration Parameters therefore are unused refer to Table 5 Table 5 Profibus DP Network Configuration Parameters G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 16 TOSHIBA 8 2 Modbus RTU Configuration When parameter F890 is selected for Modbus RTU communications then the additional Network Configuration Parameters are assigned the functions as indicated in Table 6 Table 6 Modbus RTU Network Configuration Parameters Parameter Settings Default Value 300 baud 600 baud 1200 baud 2400 baud Baud Rate 4800 baud 5 9600 baud 19 2 kbaud 38 4 kbaud no parity 1 stop bit no parity 2 stop bits even parity odd parity F893 Response Delay 0 200 0 00s 2 00s Poo F892 Parity amp Stop Bits 1 G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 17 TOSHIBA 8 3 DeviceNet Configuration When parameter F890 is selected for DeviceNet communications then the additional Network Configuration Parameters are assigned the functions as indicated in Table 7 Table 7 DeviceNet Network Configuration Parameters 0 125kbaud F891 Baud Rate 1 250kbaud 2 500kbaud 0 Set all consumed data to 0 1 Retain last data values 2 Issue STOP command to drive 3 Issue EMERGENCY OFF command to drive 4 Run preset speed 1 5 Run preset speed 2 6 Run preset speed 3
76. uency or Maximum Frequency then the drive will ignore it maintaining its current setting e Drive Command Scan Data Offsets 12 31 Table 12 provides a list of the available command scan data selections selectable via drive parameters F831 F835 The Parameter column indicates the drive s internal parameter to which the corresponding selection is mapped Table 12 Drive Command Scan Data F831 F835 he o Noselection OFFF 1 RESERVED 2 RESERVED J 6 Negative torque limit 0 01 0 25000 0x0443 8 Speed torque bias 0 01 25000 25000 0x0726 9 Tension torque bias 0 01 25000 25000 0x0727 14 Outputterminals OxFASO Er 1 ANRESERVED e AS A AS Note 1 Items marked as RESERVED in Table 12 are reserved for future use Selecting one of the corresponding values as command scan data will have no effect on drive operation Note 2 Although not disallowed avoid configuring more than 1 scan command data parameter with the same command data selection for example do not set both F831 and F832 to 3 etc Unexpected drive behavior could result if different data values are written to the corresponding command locations gt Note 3 Parameters F831 F835 are only validated on drive reset or power up Therefore if any of these parameters are changed be sure to reset the drive to validate the changes Note 4 Data range checking i
77. uency Command Low Byte Frequency Command High Byte F831 Command Data Low Byte F831 Command Data High Byte F832 Command Data Low Byte F832 Command Data High Byte 11 5 4 5 4 Input Instance 70 Basic Speed Control Input This is the ODVA AC DC Drive Profile Basic Speed Control Input assembly For more information refer to the ODVA DeviceNet Specifications and the object explanations in this manual related to each of the fields of this assembly instance gt 3 Speed Actual High Byte G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 56 TOSHIBA 11 5 4 5 5 Input Instance 71 Extended Speed Control Input This is the ODVA AC DC Drive Profile Extended Speed Control Input assembly For more information refer to the ODVA DeviceNet Specifications and the object explanations in this manual related to each of the fields of this assembly instance At Ref From Ctrl From Running2 Running F O its Ne SN e See Sy Speed Actual Low Byte Speed Actual High Byte 11 5 4 5 6 Input Instance 150 Toshiba ASD Status This is a vendor specific input assembly instance that provides direct access to the most often used status components of the G7 ASD For more information refer to the explanations for the referenced attributes contained in the AC DC Drive Object in section 11 5 8 6 on page 69 Note that bytes 0 and 1 are mapped to the G7 Status Word attribute attribute ID 111
78. unstable grounds paint coated screw heads grounds that are subjected to inductive noise etc For specific requirements regarding protective grounding and the DeviceNet network refer to the ODVA DeviceNet Specifications 11 4 Connection Information 11 4 1 Connection Sizes Polled 1 O Toshiba assembly Polled 10 AC DC drive profil Explicit Messaging 29 bytes 29 bytes e For the Explicit Messaging connection this is the maximum message length shorter messages are also acceptable e For the Polled I O connection if the actual consumed data size is less than the connection instance s consumed_connection_size attribute the consumed data will be ignored but the connection will otherwise produce normally If the actual consumed data size is larger than the connection instance s consumed_connection_size attribute the consumed data will be ignored and the connection will not produce G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 46 TOSHIBA 11 4 2 I O Assembly Instances The following table indicates which polled I O assembly instances are currently supported by the DeviceNet Interface Number Type Name oem mer Extended speed control output For more detailed information about these assembly instances refer to section 11 5 4 5 G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 47 TOSHIBA 11 5 Object Specifications This section contains th
79. uration parameters implemented as attributes of other objects Table 28 lists the supported parameters and their referenced originating objects For further information on a specific parameter such as adjustment range etc refer to the referenced originating object Further information can also be found in the Electronic Data Sheet EDS Table 28 DeviceNet Interface Configuration Group Parameters Originating Object Originating Attribute poo 1 MotorData MotorType 65 P 23 MotorDaa RateeCurent 65 3 Motor Data RatedVoltage 65 4 MotorDaa PoleCowt 65 5 Control Supervisor NetCw 62 6 Control Supervisor State 62 8 Control Supervisor Running 62 9 Control Supervisor Ready 62 27 AC DC Drive Universal Access Data 67 28 DevieeNe BOS 52 29 Devieener BusOffCowter 52 G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 72 TOSHIBA 11 6 Network Communication Loss Action ASD Parameter F892 configures the drive s behavior upon loss of DeviceNet network communications For the purposes of setting this behavior the chosen action will be performed both a result of a connection inactivity timeout as well as a network fatal fault such as a loss of network power or network BUSOFF after initial successful network operation The primary behavior of the network interface and drive upon loss of communications is dictat
80. ut the option frequency command may still be used by the ASD as its overall frequency command if the Frequency Mode selection parameter is set to Use Communication Card option DriveMode This attribute has no effect on drive operation values written to it are for user reference only SpeedActual The SpeedActual attribute is the motor s synchronous operating speed in RPM and is calculated using the following formula tput F H SpeedActual Int 7 x Output Frequency 2 Number of Motor Poles where Output Frequency is the inverter s current operating frequency and Number of Motor Poles is the value contained in the PoleCount attribute of the Motor Data Object refer to section 11 5 7 Only the integer portion of the calculated result will be transmitted across the network SpeedRef The SpeedRef attribute value is used in the following calculation to determine the ASD s option frequency command value SpeedRef x Number of Motor Poles Frequency Command Hz 120 gt where Number of Motor Poles is the value contained in the PoleCount attribute of the Motor Data Object refer to section 11 5 7 RefFromNet This attribute mirrors the value set in attribute 4 NetRef Frequency Command Unsigned 16 bit value whose value is the desired ASD option frequency command multiplied by 100 For example if a frequency command of 55 34Hz is desired then 55 34 x 100 553419 0x159E If the f
81. ved in the above table are reserved for future use Presently all Reserved output data locations are ignored by the drive Future releases of the drive firmware however may use these locations for data transfer Throughout the remainder of this section references may be made to internal ASD parameter numbers and data definitions For more information regarding the specific accessible ASD parameters please refer to the appropriate ASD Serial Communication Interface Manual obtainable from Toshiba G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 22 TOSHIBA e Command Word Offsets 2 and 3 Bit mapped drive command word internally located at parameter OxFA06 Table 10 provides the format of this command word Table 10 Command Word Format w rwm o o ET Command priority Option priority Speed reference priority Option priority Speed control Torque position control Emergency OFF command o O NA Emergency OFF 10 Error counter reset command NA Reset 9 Forward reverse selection Forward Reverse 8 Jogcommand NA Jg 7 DC injection braking command N A DC injection braking 6 PI control OFF command NA PlcomtrolOFF 5 Brake release command N A Brakereleae po Na PNA ENA High Byte Excitation current command Excitation current Brake close command N A N A N A For N A N A N A N A N A N A N A Low Byte Sto Res gt
82. verse rotation is impossible only speed control is applicable G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 11 TOSHIBA Example of line driver pulse input type 1 encoder connection ASD O When single phase PG feedback is used connect to terminals PGA1 and PGAZ2 only Connect PGCC of option unit to CC of inverter G E TB SKE Example of open collector pulse input type 2 encoder connection ASD When single phase PG feedback is used connect to terminals PGA1 and PGA2 only Connect PGCC of option unit to CC of inverter G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 12 TOSHIBA 6 5 Maximum Input Frequency Using an Open Collector Encoder When using an open collector pulse input type 2 encoder the rise time of the voltage when the encoder s internal transistor turns OFF tends to be longer than the fall time when the transistor turns ON Therefore if the input frequency becomes high enough the pulse duty cycle cannot maintain the 50 10 specification For the pulse duty cycle to be within the specified range the generated frequency from the open collector encoder needs to be below a maximum input frequency To calculate the maximum input frequency for an open collector pulse input type 2 encoder use the following equations eg 1 A A Voltage rise time s 3x10 s Maximum input frequency Pulses s x A
83. which are always valid and active these two halves of the object are mutually exclusive in that only one set of attributes will be linked to the drive s actual command and status information at any given time Which half of the attributes is linked to the drive s command and status information is determined by ASD parameter F983 which selects the active I O assembly instance set As detailed in section 11 5 4 when parameter F893 is set to 0 vendor specific Toshiba I O assembly instances 100 and 150 are active These assembly instances map directly to AC DC drive object attributes 100 113 When parameter F893 is set to 1 or 2 ODVA AC DC drive profile standard I O assembly instances 20 and 70 or 21 and 71 are active In part these assembly instances map directly to AC DC drive object attributes 3 29 When the Toshiba I O assembly instances are active AC DC drive object attributes 3 29 are still available via explicit messaging GET SET services but these attributes are decoupled from the actual G7 ASD operation That is to say that status attributes such as 7 SpeedActual are not updated to reflect actual drive status and command attributes such as 8 SpeedRef do not affect actual drive operation in any way In this case only those attributes that are specific to the Toshiba I O assembly instances are coupled to the drive s operation For example writing to attribute 100 G7 Frequency Command will write to the driv
84. zation and as the result of a DeviceNet SET service Therefore be sure to reset the drive whenever parameter F600 is changed locally via the LCD EOI to validate the new setting RatedVoltage This attribute directly maps to ASD parameter number F306 Max Output Voltage found in the Motor Parameters Group Note that parameter F306 is only read by the Multicom interface upon drive initialization and as the result of a DeviceNet SET service Therefore be sure to reset the drive whenever parameter F306 is changed locally via the LCD EOI to validate the new setting PoleCount This attribute directly maps to ASD parameter number F411 Number of Motor Poles found in the Motor Parameters Group Note that parameter F411 is only read by the Multicom interface upon drive initialization and as the result of a DeviceNet SET service Therefore be sure to reset the drive whenever parameter F411 is changed locally via the LCD EOI to validate the new setting G7 ASD Multi Protocol Communication Option and PG Feedback Option Manual 66 TOSHIBA 11 5 8 AC DC Drive Object Class Code 0x2A The AC DC Drive Object models the functions specific to an AC or DC drive 11 5 8 1 AC DC Drive Object Class Attributes Attribute Access Name Data Description Default ID Rules Type P Value 11 5 8 2 AC DC Drive Object Instance Attributes oe Default reference 4 Get Set NetRef BOOL 1 Drive reference from DeviceNet Speed reference in 1 Driv

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