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CANopen 通信カード CANopen Communications Card "OPC-COP"

1. 00000000 0000000000000000000000000000000000000000000000000 00000000 00000000 ABE NO0O0O000000000000000000000 0000000000000000000000000 0000000 0000000000000000000000 umagmmuu 000000000000000 0000000 0000 0000000000000000000000000 00000000000000000000000000000000000000000000000000 0000000000000000000000000 00000000 0000000000000 AE 0000090888008 000 0000000000 0000000000000 000000000000000 000000 KF4 N 000000000000000000C2v0000000000000000000 00000000 00000000 02000000000000000000000000000000 000000000 00000000000000000 020000000000000000 00000000000 000000 n i ABE 0000000000000000000000000000 00000000 000 AEGA 18 0 00000000000 0000000 00000000000000000000 Ea 0000000000000000000000000000000000000000000000 00000000000000000000 fey 000000000000000000000000000000000 EM 000000000 u PPP WWW NNN Peo NMNN NY o 00 EJ HELI 25 go 31 a og 0658 EIE oO B O o mE ono LEDO PD Mesa AR 6 Un OOOO 00 0 sse te tn ns 24 10 1 00 O 000 0000000000000 7 ADU TO AU 01010011100 DAs e
2. oB 1D0 00 0x180 0 00 ID Statusword 4020000000 0x280 0 00 ID Statusword 4020000000 vi Control effort 0000000 0x380 000 ID 4800000000000000 4000000000000 049900000000000000 00000000000 o000000000000000 0 0000000000 0000000M6MO000000001 Evert tine 00000000 PO I UI I I I O PQ 00000000000000 0000000000000 0000000000000000 000 Po00000000000000006000 0000 PON20000000000 0 POX 1 XN 300000000m6M0000000000 0000000 PO UI i UI DL 00000000000000000 07 5 2 CB10 0000000000000 000 0000000000000000000000000000007 5 3 Transmission type Es POUDD DnDDIDDUD 000000 000 Po000000000000 Pon GEID bit310 1000000 D 0 PC00000000000000 m Peononnnnn 25 PDO 0 000000 0 O PDO Mppi ng Paraneter Index 1600 1602 14009 142030 000000 0000000000000 sy PDODO OOOO eration 9000000000000 14 72 00 P9o000 gt 000000 1 00 PON 1 we Jog SSS 0x200 0 0 iD o Gortroword 0 0 byte EN Control word byte Control word DSP 402210000000 00 000 000 00 00000 Control word 0 0 4021 00000000000000 MOU 11 1 0091 000000000 OO OP 4000000000000000000 2 00 PDO No 2 mu fon 0x300 0 O REE TE 00 byte MEC 2 fv target velocity byt 0 target velocity byt Control word DSP 402 1
3. vl target velocity 0 000 r nnn Control word vi control effort DSP 402 000000000000 ts 40000000 00000 1100 11 1 CANopen ono ELI EJ E no ono no no no ee ag 0407 430 O000000000000000000000000000000 00000000 LJ aq 4300000000000000 40000000000 0400 04390487 0510 0 0 Index 5EOO 5017000000000000000 0000000000000000000000000000000R 450000000000000 05005200000000000000000000 mem 000000000000000000000000000000000000000000000 O0Q000000000000000000 mM 00 OOD 280000000000000000 000 400000000000 BNOOOO000000000000000 15 000000000000000000000000000000000000000 RestNde 0000000000000 0000000000000 OOO Index 5600 5 6144700000000000000000000000000 Resende 00000000 00000000000000000000000000 000000000000 Transmssi on type 000 3 4 U 000 0000000000600000000000000000000 Index 5EOO 5E010 0000 00 0510 048 043 040 0000000000 4 730000000000000000 16000000000000 000 000000 200000000000000000000000000 LILILILI l c r o 5 r v oO m m z
4. r3 E Oo 000000000000000 00000000000000000000000000000 ono EXT E El ono oo wo O El O 0 10000 2000000 NOO 31000 000000000 32000000000000 EDD TooHn y r3 oo oo CIEI B g 5 ER Ei E 0000000 00000000000 t 0000000000000000000000000000000000 2 r3 r3 El r3 1 000000000000000000000000 0000000000000000 0000000 0 32 000000 FRENGE A port 710000 32 000000000 0000000000000000000000000000000 3300000000000000000 000 U 40 00 ERE NERA 0000000000000000000000000000000000000U00000000000000 000000 KP4 N0000000000000000002C42V0000000000000000000 00000000 000000000000000000000000 00000000 0000000000 0000000000000000000000000000000000000 0000000090 0000000000000000000000000000000000000 0000000090 00000000000000000000000 gadgd0 000000000000 L AE 000000000000000000000000000000000000000000000000 00000000 41 00000 42 open 00000 1 CANopen O I O TERM 200000000000 420000 41000000 1 2 3 4 4 5 5 1 2 3 an can can on GN on on on GN CAN GD H HD HD W W ao L H U 42 AvopenQ 00000 0 41 Abpnd OO
5. oo 252 E oo GH m oo o0 goa of 2 oo ON oo T pH Rofo Ua 28 in Oo oO po No r3 05 o0 gogo oo So r3 m r3 Oo on Opa mn o 5 pp YE Uu 2058 oo solo EX A m oO oo uag B7aU 25 po E SOE ME oo oO Fo go i oo tu rn oa O 200007 mg oo 5755 og o0 22589 po o 20550 oo ya co 225750 oo ya r3 250 oo po r3 OD 42 0 uu po oO 3250 Bo EJ Buu oo oo oO 8520 de co oO Roo oo go 2855 oo JE Dl o5oo oo Ee R m 45 000000000000000000000 16100000000000000000000000000 000000000 0161 000000000 200000 000 0000000000 000000000000 E050664 TT 0 0000000 0 01 nycm 0000009000 00000000000000000000000000 16 2 CANopen I 0000000 Gwper0000 1620000000000000000000 Gwper000000000 0 162 CANbpen O 000 CAN 15011898 0001D 10 127 0000000000 31000 00000 20K 50K 125k 250k 500K 800K 1Mbi t s 0000000000 032000 000000000 0 16300 000000 200000000000 0 GA DS 301 Ver 4 02 D GA DSP 402 Ver 2 0 Vel oci ty Mode 0 163 AiopenQ 00000000 00000 bit s 20k 50k 125k 250k 500k 800k 1M 00000 2500m 1000m 500m 250m 100m 50m 25m English Version ENGLISH Preface Thank you for purchasing our CANopen Communications Card OPC COP Mounting this communications card on your i
6. Control word 00000000000000 atusvord 000000000000 arget velocity 0000 09 control effort 0000000 r mn 00008000000 Otro vrdg0000000000000 PoW20000000 2 00000000000 m Control vord bit7 bit6 bit5 bit4 bit3 bit2 bitl bi tO ETTER rat Stop reset operati on stop vol tage bi t15 bi t14 bi t13 bi t12 bi t11 bi t10 bi t9 bi t8 bi tog 3 0000000000000000 1 1000 bit7 Faut rest O00 10000000000000000000 bit8 Halt 000000000000 r mn00D0 bit11 Reverse 00000000 m000 000 bi t120 15 00000000 X0 xm Q CFF 11 ON m Statusword bit7 bit6 bit5 bit4 bit3 bit2 bitl bi tO Switch on Qui ck Vol tage Operation Switched Ready to Vann ng di sabl ed stop enabl ed Fault enabl ed m swtch on bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 D rection Internal of li nnt rotati on acti ve bi tO 2 5 6 00000000000000 111000 bit3 Fault 1000000 bi t4 Voltage enabl ed 1000 ew bi t 7 V rni ng 00000000 bi t9 Renate 10 Apr 000000000000000000000 bi t10 Target reached 100000000 bit11 Internal li mat active 10000000000000000000 N bit15 Drection of rotation 0100000000 WOO m vi target velocity r mn0000000000000 00000 32768 r nin 3276 r nin m vi control effort 00000000 mg 00000000 00000 32768 r mnd 32767 r nin 3 O000000 000000000000 2P42000000000000000000000000000000 0000000000 Grtrdwrd G 00 AWOOO00 0000000 Statu
7. 9 CTW 0xxx 0000 CTW 0xxx xx0x CTW 0xxx x110 2 7 or v CTW 0xxx x0xx 3 Ready to switch on gt 10 CTW 0xxx xx0x STW x01x 0001 or CTW 0xxx x0xx Output shutdown CTW 0xxx x111 ES 12 or Y CTW 0xxx 0110 CTWCOxxxx00x 4 Switched on STW x01x 0011 8 CTW 0xxx x110 CTW 0xxx 1111 4 5 CTW 0xxx 0111 CTW 0xxx x01x 5 Operation enabled 6 Quick stop active STW x01x 0111 STW x00x 0111 Figure 11 1 State Machine Table 11 1 Relationship between State Machine and Inverter Status Inverter status Not ready to switch on Initialization of the CANopen communications card in progress Switch on disabled Inverter alarm released Ready to switch on Inverter output shut down Switched on Inverter stopped Run command OFF Operation enabled Inverter running Run command ON Quick stop active Inverter quick stopped within the time specified by Index 604A Fault reaction active Alarm detected Fault Inverter tripped 34 4 Communication example This section gives an actual communication example that controls the DSP 402 state machine in order to drive the inverter This example uses PDO 2 under the following conditions Node ID of the inverter communications card 1 Inverter s function code 031 1 Transmit PDOs 1 and 3 Disabled That is Index 1800 sub 1 0x80000181 and Index 1802 sub 1 0x80000381 All oth
8. Change of state event UNSIG See Tables 7 5 and 7 7 3rd Receive PDO Communication Parameter RECORD Number of entries Number of sub indexes 2 UNSIGNE COB ID of RPDO 3 Default 0x400 Node ID Choice of transmission type Default 255 Change of state event See Tables 7 5 and 7 7 1st Receive PDO Mapping Parameter RECORD Number of mapped objects COB ID UNSIGNE Transmission type UNSIGN Transmission type COB ID UNSIGNE UNSIGN Transmission type Number of mapped objects 1 UNSIGNE 0x60400010 Controlword 2nd Receive PDO Mapping Parameter RECORD Number of mapped objects PDO mapping entry1 UNSIGNE Number of mapped object 2 UNSIGNE 1 0x60400010 PDO mapping entry1 Controlword UNSIGN 0x60420010 vi target velocity 3rd Receive PDO Mapping Parameter RECORD Number of mapped objects PDO mapping entry2 UNSIGNE Number of mapped objects 4 UNSIGNE 0x5F020110 PDO mapping entry1 Function code assignment 1 for UNSIGN write 0x5F020210 DO mapping en Function code assignment 2 for UNSIGN write 0x5F020310 DO mapping en Function code assignment 3 for UNSIGN write 0x5F020410 DO mapping en Function code assignment 4 for UNSIGNE write 26 Object name Description Data type Access 1st Transmit PDO Communication Parameter RECORD Largest sub index Max sub index number 5 UNSIGNE
9. E RE O nog L3 L3 5 L3 L3 5 Event ti ner 00 PD O00 1m00 0000000 Transmssion type 240000 3500000000 20 U 80 spununmn 81 SOOOOO SDO Ser vi ce Data j ect 000000000000 00000 M sonunu 000000000 0000000 82 SDOOOO000 Uuuunsponnuunu O00 100 Server SDO oo 0000000000000000000000000000000000000000 000000 0000000000000000000000 so0000000000000000000000810 Art0000000000 0 81 sopgo00000 Abort 000 8 000000 000000000 000 000000 000000 000 EEPROM 000000 00000 00000000000000 0 7 E olsoslololo o olo o A oloslolololo aolo o A 00000000 0000000000 CA Nopen 501 505 5060000 oloolololololololololu 000000000000 0000 000000 00 NOU 21 0 90 0000 00 ooo 91 0000 09100000000 prn000000000000 091 0000000 Wpen000000 000000 000000 DS 301 Ver 4 02 0 DSP 402 Ver 2 0 Velocity 017 PDO 00 POO OO PD 300 PO00000000 SDO 100 Server SDO I IU D 0000000 Network Managenent NVI Start Renate Node Stop Renate Node Enter Pre Cperati onal Reset Conmuni cati on Reset Node Heartbeat Producer Consuner Node Guardi ng Energency EMY 92 00000000 2 0000000000000 MM 3010000000000000000000
10. Event timer NSIGNED16 Transmission type NSIGNED8 Event timer NSIGNED16 Transmission type NSIGNED8 Event timer NSIGNED16 Number of mapped objects 1 UNSIGNED8 0x60410010 Statusword 2nd Transmit PDO Mapping Parameter RECORD Number of mapped objects PDO mapping entry1 UNSIGNED32 Number of mapped objects 2 UNSIGNED8 0x60410010 Statusword 0x60440010 vi control effort PDO mapping entry1 NSIGNED32 PDO mapping entry2 NSIGNED32 27 ENGLISH Object name Description Data type Access 3rd Transmit PDO Mapping Parameter RECORD Number of mapped objects Number of mapped objects 4 UNSIGNE 0x5F030110 PDO mapping entry1 Function code assignment 1 for UNSIGNE read 0x5F030210 DO mapping entry2 Function code assignment 2 for UNSIGN read 0x5F030310 DO mapping entry3 Function code assignment 3 for UNSIGNE read 0x5F030410 DO mapping en Function code assignment 4 for UNSIGN read 1 Writing of a COB ID whose bit 31 is 1 once enables modification of the COB ID 2 The inhibit time can be modified only when the PDO is disabled that is when bit 31 of the COB ID is 1 28 10 2 Objects in Fuji Specific Profile Area Table 10 2 lists objects in the Fuji specific profile area In the Access column R denotes Read only and RW Read Write Table
11. 00000 4pn0000000000000 21000000 0000000 0 OO Avopengog TERM 0000000 au ac N i VE 0000 00000000 LEBOOODOO 0 21 AvpenQ 01 1 117 2 2 1 0002110 t 000000000004000000000000000 2 3 LED IUIDU D 00000000000 Aopen 00000 200 LEEODODOD 0 21 LED TD DO 0009000000 000000000000 n CANbpen Stop O O 0000000 4 CANbpen Pre Oper ati onal 0 O D 00 CNbper Operati onal 0 D 00 000000 000000000000 4 ONDO0000000 00000000000 m Heart beat Node Guarding 0000000 0000000 0 00000000000 00 CNIDDDDD RUN ERRO 17 0000000 ounn 1000000000 200001500000 2 0000 2 5H 200ns 0 0 2000 0 O O 3 00000000 200ns0 0 0 200ns 0 0 0 20008 0 I ism a ad 4 0N000000000000 ERLEEODODDODOOOODOOD 0 30 0000000000000 AE 000000000000000000000000000000000000000000000000000 000000 KF4 N0000000000000000000C2v0000000000000000000 00000000 00000000 ANGER 0200000000000000000000000000000000000 00000000000000 02000000000000000000000000000000000000000000000000000 og 00000000000 0000000000000000000000000000000000000000 00000000 310 100000 00 000000000000000000000000000000000000000000000 000 Fat im DO DO 00000000 O00000000000000000000000000 oo oo oo oo oo EYE ooo 00 00 00 ER ooo 0010000000000000000000000000 Dim 0000 r3
12. 000000000 50672 RW 10000000 DU 0 BID 00000000 0x401 DU 0 C I D 0000 gt 000 0x381 39 0000 Poo O 12 Heartbeat Node Guarding Heartbeat I 0 0 Node Gerdingp ABE 00 Heartbeat Node Gard nga 0000000000 0 1 0 90 910 OOO Zwpr00000000000000000000000000 12 1 Heart beat 9 0 DO 00 000000000000 Heartbeat 00 CJ Heartbeat 00000000000 00 00 OO 3010000000000 dem Heartbeat Node Gardng00000000000000000000000 CANopeng 0000 00000 Heartbeat 00 000000 0 Node Gardi ng OOOO O Index 1009 00 0 Index 1000 00000000 12200000 0000000000 00000000 Consuner heartbeat ti ne Nunber of entri es 000 1 00 werd 000000 ID DD word Heartbeat 0 0 O O 000000 0 000 Producer Heartbeat 00000000 heartbeat ti ne 000000 0 000 Consuner heartbeat ti ne 2 Gonsuner heartbeat ti ne 0000000 ID Heartbeat producer 00 Heartbeat 00000000000000000000000 0000000000000000000000000000 Heartbeat 000000000000 CAN
13. 0000000000 Event tine 70000000 POo000000 74 DO Ponnunannagnanmnaun 1 00000000000000 UDD POQ regpo00000000000000 U 74 00 01400 RPDO No 1 Ox1401 RPDO No 2 01402 RPDO Nb 3 OOO000 74000000 000000000000000 O Poo CGN1D0000000000 0000000 RPDO Nb 1 0200 000 ID RPDO Nb 2 0x300 000 ID RPDO No 3 0x400 000 ID Transnissi on type 0000000000000000000 7 5 000000 2500000000000 2 GBID 0 ANG bit 1200000000000000000010000000000000 0 0000000001D0 1000 RPDON 20 M 030111 00 bit 3lbit 10 00 0 0 RPDO 000000000 Ey TBID00000 00 PODDDHUDDDO i fn 3 Transmssi on type ue OND IDO 0 11bit 0 OO bitu 300 onn 00000000000000 000 PPO0OO0000000000000000000000000 7500000000 UD 000 7 5 00 PODDO Transnissi on type 0 Acycl i c Synchronous 00000000000000 000 syed 100000000000000 1 240 Cycli c Synchronous 00 241 251 00 2 252 Synchronous RIR onl y ooo 253 Asynchronous RIR onl y 000 254 Asynchr onous1 000 000000000000 255 Asynchr onous2 2000000000 0000000 2w000000000000000000000 18 75 00 PO000000000000000 00000000000000 UDD PA PPp 0000000000000000000000 76000000 O76 00 Po0000000000000000000000 0x1800 TPDO No 1 0 POD CANID 9000000000 0x1801 TPDO Nb 2 0000000 0x1802 TPDO No 3 TPDO Nb 1 0x180 0
14. 000000000000000000000000000000000000000 00 Poo aB 1D Byteo Bytel Byte2 Byte3 00000000 wa x 02 Po 5 000000000000000 0050000 4000000 00 0 G I D 0900 00000 oso 000000000000000000000 StatusvodByte 900000033000 400000 000000000000000000000 vi control efot Bte 30000000000000 000000000000000000000000 00 0 BID Byte0 Bytel Byte2 Byte3 0000020090 0x281 3 02 35 1120000000 000 5600000 Tem UU 9600000000000000000000000000000000000000 m 00 POM 1 2000000 O O Index 1400 subl 0x80000xxx 0 Index 1401 subl Ox80000xxx P420000000000 2000000 0000000000 yep 20000 3000000 000000000 0 0000 0 0000000 00000 0 01 00 lt UU 00000000 0 0100 000000 2P4200000000000000000001 Statusvord 20000000M40000000000 POX 3 0000000000PON 30000000 700 P0000 0000 2 00000000000 0000000000 bit7 bit6 OOOO S06 bit5 bi t13 bi t12 bit11 bit10 bi tO FVD bi t1 REV bi t20 10 XI X9 bi t13 14 XF XR bi t15 RST 110000 110000 00000000 X0 X x 00000000 X FVODD X RvO l 021000000000 0000000000000000000 s00000000000000 Ma bit7 bit6 bit5 bit 15 bit 14 bit 13 bit12 bit11 bit 10 bi tO FVD 10000 bi t1 REV 10000 bi t2 EXT 10000000000000 bi t3 INT 10000000 bi t4 BRK 10000 bi t5 NV 1000000 bi t6 TL 1000000 bit7 M 100000 bi t8 IL 100000
15. PDO COB ID Master Inverter 0x301 Upon receipt of the above the inverter responds to the master with the following transmit PDO The lower byte of Statusword Bytes 0 and 1 is 33 indicating that the state machine is in state 4 Transmit PDO COB ID Inverter Master 0x281 To shift the state machine from state 4 to state 5 Run forward command and issue a speed command send the following data in Controlword from the master In this example enter the speed command 1800 r min 0x0708 to vl target velocity Bytes 2 and 3 Receive PDO COB ID Master Inverter 0x301 Upon receipt of the above the inverter starts running accelerating to a speed of 1800 r min The lower byte of Statusword Bytes 0 and 1 is 37 indicating that the state machine is in state 5 During acceleration the output speed monitor vl control effort Bytes 2 and 3 changes its value so the inverter sends the following data continually until the inverter reaches the target speed Transmit PDO COB ID Inverter Master 0x281 Receive PDO COB ID Master Inverter 0x301 Upon receipt of the above the inverter starts decelerating The lower byte of Statusword Bytes 0 and 1 is 33 indicating that the state machine is state 4 During deceleration also the output speed monitor vl control effort Bytes 2 and 3 changes its value so the inverter sends the following data continually until the inverter comes
16. bit9 ACC 10000 bi t10 DEC 10000 bi t11 ALM 10000000 bi t12 RL 100000 bit15 BUSY 000000000 8 D0000000000000 so 0 01 0 0 0 0000000000 0000 0 327 68 HI 327 67 Hz 8 Q00000000000000 M9 000000000 00k000000000 0000 0 327 68 HI 327 67 tz 3 000 000 9600000000000000000 000000 000000000000000 00000000000000000 ID 03501 POON 300000 0407 0206 00000000 10 S06 048 030 00000000 041 0205 00000000 20 505 049 0309 00000000 042 0000 00000000 300 o50 0000 00000000 043 0000 00000000 MIN o51 0000 00000000 00 PDON 1000 N 2000 DDD Index 1400 subl 0x80000201 Index 1401 subl 0x80000301 00 PDON 1000 N 20000 DDD Index 1800 subir 0x80000181 Index 1801 subl x80000281 000 Gwrr000000000000000 P000000000 ya 3 00008000000 POX 30000000000000000 moo PO 000 gt 00000 CB ID 0x401 CB ID D 000000 Start_Renote Node 0900000000 Operational 0 RNLED0 000 00000000000 eraiona 1000000000 PON300000000000 DD Poo BID Byte0 Bytel Byte2 Byte3 00000 gt 000 2 0000000 6 1 Fw 1 00000000 Sox 50 00H 0x1388 000000000 DD Poo BID 00 00000 0x401 0000000000000000000000000000000 Ponaadatdatddad DD Poo BID 0000020090 0x381 3 0000000 sg 0 Fw 0 0000000 00 0 CI D 00 gt 00000 0x401 FDI DO OFOOO 00 PDO 00000 gt 0 4
17. card does not detect a communications link break if any It is strongly recommended that the link break detector be enabled 12 1 Heartbeat The heartbeat service monitors signals transmitted by the specified node in order to detect a CANopen network break LL For details about Heartbeat refer to the CANopen Specifications DS 301 Mate The concurrent use of Heartbeat and Node Guarding is prohibited The concurrent use blocks a normal detection of a CANopen network break To use Heartbeat disable Node Guarding by setting 0 to both Indexes 100C and 100D Refer to Section 12 2 1 List ofrelated objects Object name Description Data type Access Consumer heartbeat time ARRAY Number of entries Structures 1 UNSIGNED8 Upper word Node ID of monitor target Consumer heartbeat time Lower word Heartbeat monitoring time UNSIGNED32 Default 0 Disable Heartbeat message transmitting cycle Default 0 Disabled Producer heartbeat time UNSIGNED16 ENGLISH 2 Consumer heartbeat time The heartbeat consumer monitors whether it is receiving a heartbeat signal transmitted by the specified node heartbeat producer in the specified cycle The format is shown below If the heartbeat consumer fails to receive a heartbeat signal within the specified monitoring time it will be judged as an occurrence of a CANopen network break I For inverter reactions to apply when a CANopen network break occurs refer to C
18. di ng I 0 00000000 0000000000000 000000000 20023to00000000000000000 Em 000000000000 0000000000 0200000000 Pre Qerational 0000 k Q00000000000 Pre Qerational 0 O O O O 0 Pre Qerational 00 J O 0000000000000000 Start Rente Node Da eration 0000000 00 0131 AopenQ O00 0000000000000 0270 0287 00000000 00000000er50000 028 o 280 42 0 140 000000000 000000000000000000000000 0 0 0 000000 000000000000 1 bpeng 0000000000 Index 1003 subl Standard error fi el d 0 0 Index 603F Error code 000000 UU 0000000000 yOOO0000 Aopen O0000000000000000M000 00000 Index 1003 subl Standard error fiado 9 O Index 603F Error code 000000000 010 6 0 2 0000000000 M6 M7 Mepg o M9000000000000000000000 100 2 00000 300000000000 0 144100000000000000 000000000000000000000000000 000000000 14 1 0000000 0000000 Error Error fiaa MU M9 field Mei M9 0 00 23 17 1 01 24 18 2 02 44 2B 3 03 45 2G 5 05 25 19 6 06 27 1B 7 07
19. oO El oO r3 E oO r3 00000000000000000 271023 0 0000000000 Cd 0277 028000000 BOO CanopenQ 000000000000000000000000 3 00000000000 Pre Qerati onal 0 0 0000000000000 W r0000000000000000 00000000000000 OOOO Pre Qerational 000 8000800000000000000 0000000000000 RN D0000 PRLD000000000000000 4 00000000000 Heartbeat 0000 Node Guarding 0 000000000000000000000000 Heartbeat 0 0 Node Gard 9 OOOO0000 CO Heartbeat 0000 Node Gardi ng 000000 1200 Heartbeat 0 00 Node Gard ng 00000 E CANopen 0000 0000000000000000000 000000000000000000 0000 000000000000000000 CWw er000000000000000000 2000000000000000000 5 p00000000000 Start Rente Ne0000000 Qerational J 000000000 0000000 LEO CND Oeration20000000000000000 00 Po0000000000000000000000000000000000 EA Po0000000000000000700Po0000000000000000 D 70 PDOI I I 71 Po000000000 PDQ Process Data ed 00000 wen00000000000000000000 0000 0 00000000000000000000000000000000 0 710 72000000000 Po gmro 000 000000000 POA Po 00000 000000 3000000000000 CB I DO 00 0x200 0 0 0 ID Control word 420000000 0x300 0 0 ID Control word 420000000 vl target velocity 0x400 000 ID 000000000000000 04100000000000000 200000000000000 4300000000000000 O72 00 PO PDO 00000 0000
20. of entries 000 4 PD Nb 300000000000 000000 00000 PD No 300000000000 000000 0410000 PO w 300000000000 000000 0220000 PON 310000000000 000000 0430000 Assi gnnent of TPDO No 3 Nunber of entries 000 4 PON 300000000000 000000 0480000 PON 300000000000 000000 0490000 PON 300000000000 000000 500000 PON 300000000000 000000 0510000 00000000000000 0 0 FRENC s Index SF functi on code 00 x OO 4 O EOl gt Index 5F05 Sub 02 Functi on codel Function code2 Function code3 Function code4 Function codel Function code2 Function code3 Function code4 1 Pre Cperati onal 100000000000000 2 0000000000000 7007 2 40000000 DDD 040 0430 048 0510 Index 5E00 5E01 OG0000000000000 tur Index 5600 501 9000000000000000 000000000000000000 000000000000000000 RseNMd 0000000 040 043 0480 0510 0 0 0000000 28 300000000 00000000 0 73000 00000000000000000000000000000000K5485 00000 50052 00000000000000000000 00 00 400000000000 SOL sos soe 507 512 513 59000 FF0000000000000 10 3 00000000000000 0 10 4000000000000000000000000000000000000 R000000 WJ 00000 RW000000000000000 0 10 4 O0000000000000000000 000000 U 0000000 Error code 0000 141 0000 Cuero vord 0542000000000 00000 4200000000000 vl target velocity 0000 r mn vi velocity den
21. output sp 3 State machine Operating the state machine the inverter Controlword CTW in the fi in the figure monitors the state zx Status display of the state machine See Figure 11 1 1 Tripped 1 Voltage applied to the main circuit Not used Fixed at 0 1 Either one of speed and run commands via CANopen is valid 1 Reference speed reached 1 Torque voltage or current limiter activated 0 Forward or stop 1 Reverse r min Data setting range 32768 to 32767 r min eed to display r min Output range 32768 to 32767 r min state transition flow in Figure 11 1 stipulated in the DSP 402 drives the igure causes the state transition of the state machine and Statusword STW ENGLISH Table 11 1 lists the commands to the inverter at each of the state transition times Tin Transition to State 5 Operation enabled see Figure 11 1 runs the inverter 33 Note In this flow the upper bytes of the CTW and STW are omitted i Since they are independent of the i Start From all states state machine 1 i 1 True 0 False H x No related function l 13 Alarm occurred Mn al Bk N it Nl 1 1 Not ready to switch on 7 Fault reaction active STW x00x 0000 STW x0xx 1111 14 Output shutdown Trip NG Reset tri Internal initialization completed 1 or CTW 1 Xxx xxxx 8 Fault 15 STW x00x 1000 Switch on disabled 2 STW x10x 0000
22. the master node equipment to the communications card Table 13 1 Inverter Reactions to CANopen Network Breaks Defined by Function Codes 027 and 028 Inverter Reactions to CANopen Network Breaks Remarks Invalid Immediately coast to a stop and trip with er 5 0 0 to 60 0 s After the time specified by 028 coast to a stop and trip with er 5 0 0 to 60 0 s If the inverter receives any data within the time specified by 028 ignore the communications error After the timeout coast to a stop and trip with er 5 Invalid Keep the current operation ignoring the If a communications error is communications error No e 5 trip detected the LED indicates the error state Invalid Immediately decelerate to a stop The inverter s function code Issue er 5 after stopping F08 specifies the deceleration time 0 0 to 60 0s After the time specified by 028 decelerate to a stop Same as above Issue er 5 after stopping 0 0 to 60 0 s If the inverter receives any data within the time Same as above specified by 028 ignore the communications error After the timeout decelerate to a stop and trip with er 5 43 ENGLISH Chapter 14 LIST OF INVERTER ALARM CODES There are the following two ways to read out alarm codes generated when the inverter itself trips via the CANopen network 1 Read out alarm codes stipulated in CANopen from Index 1003 sub 1 Standard error field or Index 603F Error code Tip If an alarm o
23. wper000000000000000 0000000000 ysa 3 PON 2710000000000000000 m 00 P 000 00000 Byte2 Byt e3 Control vord vl target velocity u L byte Hbyte L byte H byte m 00 P 00000 gt 000 BID Byte2 Byte3 St at uswor d vl control effort oe L byte Hbye L byte Hbyte 3000000 Start Reete SEN I 000 000000000000 erational 00 0000000 RUN Le OOO 0000 Cperati onal 0000000000 PD N 20 0 00000000 O Statusword Byted DO 50 DU 2000000000 0000 DU 0 Byte0 Bytel Byte2 Byte3 00000 gt 000 oos so t 02 o 00 2 00000 20000 30000000000 erro word Byte 100000000000000 00 0 00 gt 00000 POON 0000000000 Statusvord Bytes 0000000031000 3000000 0000000 0000000 00 0 E 0000 gt 000 E 3 000000 30000 400000000 rtrowrd Byte0 7 00 0 a ID 00 gt 00000 oso 0000000 Po00000000000StatuswordBte 900000003000 4000000 0000000 00 Poo aB 1D Byteo Bytel Byte2 Byte3 900007000 oos 3 o o 00 4 0040000 50000000000000000000000000000 v target velocity Byte2 30 1800r nhn 007090 000000 00 0 BID Byte0 Bytel Byte2 Byte3 co0 gt 00000 oam c t 0 B 07 000000000000000000 189r meg 000000 0 Statuswrd Bite 7 00037000 500000000000000000000000000 w_control_effort Byte2 3
24. 00 ID TPDO No 2 0x280 000 ID TPDO No 3 0x380 000 ID Transmssi on type 000000000000 7 7 OO0000 25 000000000 Inhibit tine 0000000000 01s 00 000 000000 100 10 Ons Event ti ner 0000000 ns 0 0 O O Transmssi on Type254 255 OD 000000 0 000 00 2500000000000000 000000000000 190000000 120rs 0 11bit O0 IDI 0 20000 120000 000 iDO 1000 TPDON 20 GBI D 028410 bit 3lbit O O u CN 000 000 000000000000000000000 Cup OND 0 O 11bit 0 00 bit11g 300 000000 19 3 Transmssi on type OO Po00000 00000000000000000000 7700000000000 77 00 PC00000000000000000 Transnissi on type Acyclic Synchronous 000000000000 Src00000000 000 PD UO 1 240 Cycli c Synchronous sync O O O 1 2400 00000 PRODO 0 10000 Smc000 10000000 Popo000 241 251 01 a 252 Synchronous RIR only ooo 253 Asynchronous RIR only 000 254 Asynchr onous1 Event tine OO 000000000 POOD O 255 Asynchr onous2 000000000 Event tirr00000000 Pooog 0000000 ON0O00O000000000000000000 4 Inhibit tine O POO 0 16 OO O Transnissi on type 0000000 000 00 000 epp biti 100000000000000 8 T i H m Inhibit tine OOO 00 0000 Inhibit tineg U DO 00000 0000000000 CANopen CT 0 000 00000000 0000000000000 0 i
25. 000 000000 255 Change of state event Inhibit ti ne Event ti ner 3rd Transmt PDO Conmuni cati on Par anet er Largest sub i ndex O O su i ndex CB ID TPDO No 3 CB 000000 0380 000 ID Transnissi on type 000000000000 000 000000 255 Change of state event Inhibit ti ne Event ti ner Ist Transnit PDO Mappi ng Par anet er Nunber of napped obj ects 0000000000 1 PDO nappi ng entry1 0x60410010 Stat uswor d 2nd Transnit PDO Mappi ng Par anet er Nunber of napped obj ects 0000000000 2 PDO nappi ng entry1 0x60410010 Stat uswor d PDO nappi ng ent ry2 0x60440010 vl control effort 26 00000000 3rd Transmt PDO Mappi ng Par anet er Nunber of napped objects 1000000000 4 Ox5F030110 00000000000 9 Ox5F030210 000000000002 0x5F030310 000000000003 0x5F030410 000000000009 PDO nappi ng entryl PDO nappi ng entry2 PDO nappi ng entry3 PDO nappi ng entry4 1 810900000000 9 311 10000000000000000 2 Inhibit tier 0000000 PPOO 0000065150 6t3100000000000 27 10 20 0 00 000 000000000000 0 10 20 00 00 000 0000000000 000000000000 0000 RIDHDUD MOO 0000000000000 0 102 000000000000000000 CNOOOOO 0 00 1 0000 0000000 2 000000 CANopen 0 0 0 D 0 AND D D 20000 2 Stopped 3 Pre Operati onal 4 Qperati onal Assi gnnent of RPDO Nb 3 Nunber
26. 000 Index 6000 9FFF 0000000000000000000000000000 pen 00 BP 4200000000 0 0000000000000000000 101000000000000000000000000 0 1 000000000000000000000000000000000000000 ROOOOOO R0000000000000000 0 10 1 0000000000000000000000000 00000000 Devi ce type 0x10192 Error regi ster 1 Error 0 No error Pre defi ned error field Nunber of errors 0000000000 100010 00000 Standard error field 40000000000 000000 41000 GB ID SYNC 5 0 00000 GI D 000000 oxoso Manuf acturer devi ce nane 000000 PCP Manuf act ur er H Wersi on 00000000 Manuf acturer SVWersi on 00000000 Guard ti ne 0000000900000 m 000000 oiu Li fe tine factor 0000000000 000000 000 COB I D EMY EMY 000000 GBID 0000 0x0080 000 ID Consuner heartbeat ti ne Nunber of entries 000 1 Consuner heart beat ti ne 00 word QO00000 ID OO word Heartbeat 0000 000000 0 000 Producer heart beat tine Heartbeat 00000000 000000 000 Identity j ect Nunber of entries 0000000000 1 Vender ID 0x0000025E O Fuji Electric Group 24 00000000 1st Recei ve PDO Conmuni cat i on Paranet er Nunber of entries 0000 2 CB ID Nb GRID Transnissi on type 0000000 255 state event 2nd Recei ve PDO Conmuni cati 7 700 on r Nunber of entries 0000 2 CB ID GRID Transnissi o
27. 00000 CAN GD ONO 000000 CAN L CANI O Low ONH CANO Hog CAN SH D 1 000 00000 00000 LECT 2 ANbpen OOOO O 000000000 Zw r0000000000000000000000000000 420000000 0 42 CAbpen 00000000 00000 bit s 20k 50k 125k 250k 500k 800k 1M 00000 2500m 1000m 500m 250m 100m 50m 25m 3 CANopen 07000000 0 0 0 I 0 000000 0000 430000000 OGO0000000000000000000000000000000000 00000000000000000000000000 44000000 00000 Mm 3 50 0 000000 0 22 0 25Nm gt S 043 0 00 0 00000000 0 44 0 0010 0000000 4 0000000 0000000 CANopen I ZXANDO OO XONHOO 1200 1 1 4W O00000000000 000000000000 EL ya a tem 00000000000000000000000000000000 43 000000000 um NpnO0000000000000000000000000000000000000000 000000 zx 000000000000000000000000000000000000000000000 0000 BST We y egi JR m FREN C MEGA 75kW U 045 000 11 oo 00 Cwprn00000000000000000 000911 O00 0000000000 510000 OOO000000000 520000000000 051 0 00 001 O0000000000000000 0 0 Oo o 200 001 2550 10 1270 00000 00000000 NHU EEE 000 0000000 1 3100000 000000 0000000 ResetNode 0 2 0200000 00000 CANppen 0 000 00 2559 07000000 0 125kbit s 1 20kbit s 2 50kbit s 3 125kbit s 4 250kbit s 5 500kbit s 6 800kbit s 7 1Mit s 0000 800 1Mit s 98 30000000 0000000 02
28. 00000000 000000000 00000000000 0000000000000000000 000000000 000000000 OO y800000000000000 000000000000000000 oo og 15 CANopen 000 000000000 0 0s 0 Os 60 Os 0400 043 2 TPDO Nb 30 D 0000000 0000000000 od 0000 0000 FFFF hex 0487 051 2 REO No 30 D 0000000 1 027 0281 0000000 2 040 0430 0 0 0489 0510 55000 0000100090 000000000000 00000 ResetNode 0000 0000 FFFF hex 000000000000000000000000 240000000000 0407 04370487 0510 O Index 5E00 0000000000000000 Wer000000000 00 12 0 60 0 00001 00000000 000 0000000 W r000000000000000000000 000 5000 1 0000 000 Bs O 000000000000150 0000000 Pre Qerati onal 0 O O O Heartbeat O O 0 Node Gerdi ngi Start Renate Node 000000 gt Operational 000000 ese Ehen EX EJ EXIE EE EAS HEHE Oo MAWN EPELE 5 ooo u 00 2000000000000 0 2500000000 0000000000 2000000000000000000000 0000000000000 0 000 00000 000 00000 cc i C CO 1 CANbpen p ood O O Cd CANbpen em 0000000 ps Bu 000 00000000000000000 ki URL htt p Ki ki nf o User guest ogi n asp 2 00000000000000000000000 1200000000 310000 000000000000000 000000000 8 oO El
29. 000000000 92000000 092 wWwppgg000000000000 000000 Start Renate Node Cperational 000000 Operational OO 000 PPOO 0000 Stop Renate Node sopp 0000000 sopp 000 MM00000000000 Enter_Pre Operati onal Reset Conmuni cati on Pre Operational 00000000 Pre Operational 0 0 00 PPO00000 0000000000 000 ID 0001000000000 Nro 0 000000000000000000000000 GAO O O pen O LS 301 00 2 Feartbeat Node Guar di ng 000000000000000000000000000000000 CA Heartbeat 0 0 Node Garding 00000 120 0 Heartbeat 0 0 Node Garding 0000000 000 AEE 110 Hertbeat Node Gerd 900000000000 CANopen O00000000000000000000000000000000000000 0000 00000000000000 Zw r000000000000000000000000000000 000000 22 3 Energency EMY 0000000000000 0000000000000 000000000 000000000000000000000 00000 Error field Error 0 L byte H byte regi ster Error field 00000000000 Error register 1710000000000000000Mindex 10010000 2000000000000 40000000000000000000000 23 U 100 00000000 00000000000000000000000000000000000000000000000000 000000000 30000000000000 00000000000000000 Index 1000 1FFF 4pn00000000000000000000 CWpe000 6300000000000 2 0000000000000 Index 2000 5FFF 000000000000 000000000000000000000000000000000 000 CAbpengO 000 000000000 3 0000000000
30. 000000000000000000000 woo F oo 8 gt 8 r3 r3 gms 8 00 GA WNN can ci a de ua lis O00000000000000 OD O0000000000000000000000 000000 200000000000000000000000000000000000 2000000000000000000000000000000000000000000000 pr 0000000000000000000000000 m co000000 0000000000000000000000000000000000000000000000000 000000000000000000000000000000000000000000000 000000000000000000000000000000000000 aH 00000000000000000000000000000000000000000000 A 00000 AE 00000000000000000000000000000000000000000000 dr 000000000000000 00000000000000000000000000000000000000000000 00000000000000000000000000000 1 00000000000 AEB 0000090808800 000 0000000000 0000000000000 000000000000000 000000 KF4 N0000000000000000000C2v0000000000000000000 00000000 000000000000000000000000 00000000 kl ABE 000000000000010 000000000000000000000000000000000000000000000000000 DO uuuunnunnunn
31. 10 2 Objects in Fuji Specific Profile Area Object name Bus state Description CAN communication state 0 Normal 1 Bus off or Error passive 2 Other errors Data type UNSIGNED8 Access Node state CANopen communication state 0 Not connected to CAN 1 Initialization in progress 2 Stopped 3 Pre Operational 4 Operational UNSIGNED8 Assignment of RPD 03 ARRAY Number of entries Structures 4 UNSIGNED8 Function code 1 Function code assignmen write in PDO 3 Default 040 data NSIGNED16 Function code 2 Function code assignmen write in PDO 3 Default 041 data NSIGNED16 Function code 3 Function code assignmen write in PDO 3 Default 042 data NSIGNED16 Function code 4 Function code assignmen write in PDO 3 Default 043 data NSIGNED16 Assignment of TPDO 3 ARRAY Number of entries Structures 4 UNSIGNED8 Function code 1 Function code assignmen read in PDO 3 Default 048 data NSIGNED16 Function code 2 Function code assignmen read in PDO 3 Default 049 data NSIGNED16 Function code 3 Function code assignmen read in PDO 3 Default 050 data NSIGNED16 Function code 4 Function code assignmen read in PDO 3 Default 051 data NSIGNED16 1 Writable only in FRENIC s function code he Operational state Access to inverter s function code Specifying t
32. 28 1G PGO O 8 08 ID 29 1D Neo 000000 10 0A 31 If 000000 11 08 00 32 20 0 0000 000000 12 0Q 00 1 33 21 PUD OO 13 0D 34 22 pen 0 000 14 05 00 35 23 CANopen 0 15 OF 36 24 0 0000 16 10 00 37 25 0000000 17 11 00 0 00000 38 26 OM 1 18 12 00 53 35 002 19 13 39 27 20000 20 14 42 29 22 16 1 46 2E 43 0000000 Error field Mg M9 47 2F 0 1441 0000000000000 50 32 51 33 52 34 54 36 56 38 57 39 58 3A 59 3B 65 41 66 42 67 43 nov 68 44 81 51 82 52 0000 83 53 000000 00 84 54 85 55 0000000000 2000 OO er50000000 0 50 000000 a oo a Bue oo a Eo oo a o o 9 ODE Ai E Tr Po m ogo EX E Ono AE ogo Op o ooo ag Qo ooo LI a a ENEE oo c oo ul age oo a oo
33. 4 can also assign inverter s function codes The assignment immediately takes effect Note that restarting the inverter or issuing ResetNode to the inverter reverts to the assignment made by 048 to 051 Tip The transmission timing of individual transmit PDOs can be modified Refer to Section 7 5 3 Transmission type The factory default timing is to transmit a PDO to the CANopen master every time the parameter value changes or at the time specified by Event timer 18 7 4 Communications Parameters in Receive PDO 1 Communications parameters The communications parameters specify the attributes of each receive PDO RPDO Table 7 3 lists the RPDOs available Table 7 4 Communications Parameters in Receive PDO RPDO and Their Defaults Parameter Description 0x1400 RPDO 1 Specifies the CAN ID value and enables disables the 0x1401 RPDO 2 PDO 0x1402 RPDO 3 Default RPDO 1 0x200 Node ID RPDO 2 0x300 Node ID RPDO 3 0x400 Node ID Transmission type Specifies the reflection timing of RPDO contents Default 255 Reflect to the inverter immediately after receipt of PDO 2 COB ID This parameter specifies an 11 bit ID value of communication object identifier of each PDO The default value varies depending upon the Node ID If the Node ID of the communications card is 1 for example the COB ID of RPDO 2 is 0x301 Writing 1 to the most significant bit bit 31 disables the RPDO Paste The COB
34. 500 m 250m 100m 50m 25m 47 MEMO CANopen 0 0 0 0 CANopen Communications Card OPC COP 00000 Instruction Manual First Edition November 2012 Fuji Electric Co Ltd e000000000000000000000000000000000000 e0000000000000000000000000000 e000000000000000000000000000000000000000000000 0000000000000000000000 e000000000000000000000000000000000000000000 The purpose of this manual is to provide accurate information in the handling setting up and operating of the CANopen Communications Card for the inverters Please feel free to send your comments regarding any errors or omissions you may have found or any suggestions you may have for generally improving the manual In no event will Fuji Electric Co Ltd be liable for any direct or indirect damages resulting from the application of the information in this manual 0 0 a a a URL _ http www fujielectric co jp 0000000 Fuji Electric Co Ltd 000000000 00000 O 141 0032 00000000000 00000000 un Gate City Ohsaki East Tower 11 2 Osaki 1 chome 110 20 Shinagawa ku Tokyo 141 0032 Japan 000000 phone 81 35435 7283 Fax 81 3 5435 7425 RL http fujiel ic 0 00000000 0000 U ttp www fujielectric com 513 8633 0000000000 552000 00000 TEL I20 128 220 FAX 0120 128 230 2012 11 D11a G08 1CM
35. 7 10 2 0000000000 OOOOOOODD een n n 8 8 TEU Wa TEE SAE AMKANA dob ra bc MAANA 9 10 3 400000000000 29 o0 pj NP NP UWNrPGr Pou 2 0000000000 9600000 36 Heartbeat Node Guarding 40 1 Heartbeat 40 2 Node Guardi ng SEINEN RUNS SES 4l 0 0 0 000000000090 AUN Pri mn oO 3 nooo codo 1 OOOO M u O O E O O O O m 00 ET EV El ota O O O O O 5 O10 0000000 11 00000 O0000000000000000 00000000 8x8 000000000 000000000000000000000 2 000000000000000000000000000000000000000000 3 0000000000ccocP00000000000000000000 0 2100 0000000000000000 00000000000000000000 E r3 El gm On um UU k ES 0 0 0 00 000000000 CO j p Ki ki I nf o User gues t 1200 1 1 4W 0000 g2 u oon O Bo y Oc n Ono ogo la FH 0 8 a Bl 6 ol Og o oc too 000000 RkW000000000000000000000000000000000 0 20 00000000 21
36. Access Chapter 9 OTHER CANopen COMMUNICATION FUNCTIONS 9 1 Overview 9 2 Other Services Chapter 10 LIST OF OBJECTS 10 1 Objects in Communication Profile Area 10 2 Objects in Fuji Specific Profile Area 10 3 Standard Device Profile Area Chapter 11 DRIVING THE INVERTER VIA CANopen OOOO oo NETWORK entree tentes 32 11 1 Driving with CANopen Drive Profile DSP 402 32 11 2 Driving with Inverter s Function Code S06 37 Chapter 12 Heartbeat and Node Guarding 12 1 Heartbeat x 12 2 Node Guarding eee Chapter 13 INVERTER REACTIONS TO CANopen NETWORK BREAKS asas 43 Chapter 14 LIST OF INVERTER ALARM CODES 44 Chapter 15 NOTES ON USE OF COMMUNICATIONS CARD 46 Chapter 16 SPECIFICATIONS 16 1 Operating Environment 16 2 CANopen Specifications Chapter 1 BEFORE USING THE COMMUNICATIONS CARD 1 1 Acceptance Inspection Unpack the package and check the following 1 A communications card two screws M3 x 8 and the CANopen Communications Card Instruction Manual this manual are contained in the package 2 The communications card is not damaged during transportation no defective parts dents or warps 3 The model name OPC COP is printed on the communications card See Figure 2 1 If you suspect the product is not working properly or if you have any questions about your product contact the shop where you
37. D8 COB ID of TPDO 1 Default 0x180 Node ID MH Choice of transmission type PUR Default 255 Transmission type NSIGNED8 YP Change of state event See Tables 7 5 and 7 7 Minimum interval for PDO Inhibit time transmission in units of 0 1 ms NSIGNED16 Default 100 10 0 ms Cyclic interval in units of 1 ms for PDO transmission in the transmission type 254 or 255 Default 0 Disable 2nd Transmit PDO Communication Parameter RECORD Largest sub index Max sub index number 5 UNSIGNED8 COB ID of TPDO 2 Default 0x280 Node ID UNSIGNEDSE Choice of transmission type Default 255 Change of state event See Tables 7 5 and 7 7 Minimum interval for PDO Inhibit time transmission in units of 0 1 ms NSIGNED16 Default 100 10 0 ms Cyclic interval in units of 1 ms for PDO transmission in the transmission type 254 or 255 Default O Disable 3rd Transmit PDO Communication Parameter RECORD Largest sub index Max sub index number 5 UNSIGNED8 COB ID of TPDO 3 eos lb Default 0x380 Node ID NSIGNED32 Choice of transmission type Default 255 Change of state event See Tables 7 5 and 7 7 Minimum interval for PDO Inhibit time transmission in units of 0 1 ms NSIGNED16 Default 100 10 0 ms Cyclic interval in units of 1 ms for PDO transmission in the transmission type 254 or 255 Default 0 Disable 1st Transmit PDO Mapping Parameter RECORD Number of mapped objects
38. FC 00000 Instruction Manual CANopen O LI CANopen Communications Card OPC COP ee i Fuji Electric Co Ltd INR SI47 1698 JE Copyright 2012 Fuji Electric Co Ltd All rights reserved 00000000000000000000000000 0000000000000000000000000000000000000 2000000000000000000 No part of this publication may be reproduced or copied without prior written permission from Fuji Electric Co Ltd All products and company names mentioned in this manual are trademarks or registered trademarks of their respective holders The information contained herein is subject to change without prior notice for improvement 0000 CANopen 000000 eccP 00000000000000000000000 000000000Gweer000000000000 Gwern000000000000000000000 0000000000000000000000000PC00000000 0 0000000000 000000000000000000000000000000000000000000000000000 000000000000000000 00000000 0 301 Ver 4 02 CEP 402 Ver 2 0 Vel oci ty Mde 0000 O 20kbit s 1Mit s 0202000000 O 25m 1Mit s 2500m 20kbi t s 000000000000000000000 00000000000000000000000000000000000000000000000000 00000000000000000000000000000000000000000000000000 000000000000000000000000 00000000000000000000000 0000 cccP000000000000000000000000000000 Rs 4850 00000000000 00000000000 00000000000000000000000000000 00000000000000000000000000000000000000000 2 in Autonation GA 00 Wwprn0000000000000000 O00000
39. ID can be modified only when the PDO is disabled 1 Tm The CAN ID value is 11 bits long Bits 11 through 30 are fixed to 0 3 Transmission type The transmission type in an RPDO specifies the reflection timing of the RPDO contents to the inverter Table 7 5 lists the transmission types available Table 7 5 Transmission Types Available in Receive PDO RPDO Transmission type Type name Operation ENGLISH Acyclic Synchronous Reflect to the inverter upon receipt of a single Sync signal after receipt of the PDO 1 to 240 Cyclic Synchronous Same as above 241 to 251 Reserved 252 Synchronous RTR only Disable 253 Asynchronous RTR only Disable 254 Asynchronous 1 Reflect to the inverter immediately after receipt of PDO 255 Asynchronous 2 Same as above Default The communications card does not support CAN Remote Frames 7 5 Communications Parameters in Transmit PDO 1 About communication parameters The communications parameters specify the attributes of each transmit PDO TPDO Table 7 6 lists the TPDOs available Table 7 6 Communications Parameters in Transmit PDO TPDO and Their Defaults Description 0x1800 TPDO 1 Specifies the CAN ID value and enables disables the 0x1801 TPDO 2 PDO 0x1802 TPDO 3 Default TPDO 1 0x180 Node ID TPDO 2 0x280 Node ID TPDO 3 0x380 Node ID Transmission type Specifies the transmission timing See Table 7 7 Default 255 Transmit ev
40. INTEGER16 vi control effort Speed monitor r min INTEGER16 Controlword UNSIGNED16 To drive inverters it is convenient to use PDO 2 that is capable of sending Controlword and speed command vl target velocity at the same time 2 Details of related objects E Controlword bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit O Fault Enable Ouick Enable Switch on reset operation stop voltage bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8 ie n o bits 0 to 3 Control the state machine for state transition See Figure 11 1 bit 7 Fault reset Change from 0 to 1 to reset an alarm bit 8 Halt 1 Fix the inverter s output speed at 0 r min bit 11 Reverse Specify the rotational direction O Forward 1 Reverse bits 12 to 15 Turn digital input terminals X1 to X4 off or on 0 OFF 1 ON 32 W Statusword bit 7 bit 6 bit 5 Warnin Switch on Quick 9 disabled stop bit 4 bit 3 bit 2 bit 1 bit 0 Voltage Fault Operation Switched Ready to enabled enabled On switch on bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8 Direction Internal limit Target Remote of rotation active reached bits 0 to 2 5 6 bit 3 Fault bit 4 Voltage enabled bit 7 Warning bit 9 Remote bit 10 Target reached bit 11 Internal limit active bit 15 Direction of rotation E vi target velocity This specifies the speed command E vi control effort This monitors the current
41. If this error occurs the inverter issues Fer 5 in accordance with the 027 setting 45 ENGLISH Chapter 15 NOTES ON USE OF COMMUNICATIONS CARD This chapter provides notes on the use of the communications card 1 Avoid using the communications card with Transmission type 255 Transmit every time data changes in both transmit PDOs TPDOs 2 and 3 and Inhibit time 0 at the same time Such settings result in a lot of CANopen network traffic depending upon the frequency of data changes degrading the intrinsic performance of the communications card Decrease the transmission frequency in either one of TPDOs 2 and 3 by increasing the Inhibit time or using Sync signals 2 The resolution of the timer on the communications timer is 2 ms Specifying an odd value to an object containing a timer automatically raises it to the nearest even value Specification of 21 ms for example is treated as 22 ms 3 To stop auto tuning triggered via CANopen network Writing to inverter s function code P04 A18 b18 or r18 write O to the corresponding function code 46 Chapter 16 SPECIFICATIONS 16 1 Operating Environment Table 16 1 lists the environmental requirements for the inverter equipped with the communications card For the items not covered in this section the specifications of the inverter itself apply Table 16 1 Environmental Requirements Item Specifications Site location Indoors Relative humidity 5 to 95 No condensat
42. To send the run command S06 1 FWD 1 and the frequency command S05 50 00 Hz 0x1388 enter the data as shown below Receive PDO COB ID Bytes 4 to 7 Master gt Inverter 0x401 00000000 Upon receipt of the above the inverter starts running When it reaches the reference speed it sends the following transmit PDO Transmit PDO COB ID Bytes 4 to 7 Inverter gt Master 0x381 00000000 Receive PDO COB ID Bytes 4 to 7 Master gt Inverter 0x401 00000000 Upon receipt of the above the inverter starts decelerating When it comes to a stop it sends the following transmit PDO Transmit PDO COB ID Bytes 4 to 7 Inverter gt Master 0x381 00000000 Receive PDO COB ID Bytes 4 to 7 Master Inverter 0x401 00000000 Upon receipt of the above the inverter starts running in the reverse direction When it reaches the reference speed it sends the following transmit PDO Transmit PDO COB ID Bytes 4 to 7 Inverter Master 0x381 00000000 40 Chapter 12 Heartbeat and Node Guarding Heartbeat and Node Guarding are services for detecting a communications link break It is recommended that either one of them be used Paste Important Use of either Heartbeat or Node Guarding is recommended k At the factory CANopen devices are so set up that their link break detectors are disabled Unless the user enables the link break detector the CANopen network including the communications
43. and 0000000 r mn vl control effort 00 vi velocity min max anount Nunber of entri es 0000000000 2 vi velocity mn 0000 nin anount 000000000 F16000 vi velocity nax 0000 rm 0000000000 er F03 A01 00 00 O D w velocity accel eration Del ta spee Deltatinel 000000000000000 sen 00 Nunber of entries 000000000 2 Bl a eed pita tie 00000000 Del ta ti ne 00 5 vi velocity decel eration Del ta speed Del ta tinen 000000000000000 soon 0 0 Nunber of entries 000000000 2 Del ta speed Delta tine 000000 r mn Del ta tine 00 5 U U o 000 000 Statusvord 29 00000000 vi velocity gui ck stop Del ta speed Del tatire 0000000000000000 6000 Nunber of entries 000000000 2 Del ta speed Delta tine 000000 r mn Delta tine S 00000 vi pole nuner 000000000 Poy AL5 b15 r150 D D Modes of operation 402000000 Modes of operation 4200000000 di spl ay 20 Velocity node D 000 100000000000000000000000000000000000000 000000000000000000000004000060000r0o0000000000000 2000 e g00000000000000000000000Ddtatineg 150000 Delta speed 0000 000000000000000 1 30 U 110 wpr000000000000 0000 wer00000000000000000000000000000 0000000000000000 20000000 1 pn 000000000000 BP 42900000 2 0000000000 50600000 111 4pn0000000000002P 4000000 0000000000
44. ations Card Contents supported Refer to Communications DS 301 Ver 4 02 compliant profile DSP 402 Ver 2 0 Velocity Mode compliant PDO Supports three PDOs each for receive and transmit Chapter 7 No change allowed for assignment of PDOs SDO Supports a single Server SDO Chapter 8 Other services Network Management NMT Section 9 2 provided Start_Remote_Node Stop_Remote_Node Enter_Pre Operational and Reset_Communication and Reset_Node Heartbeat Producer and Consumer Node Guarding Emergency EMCY 9 2 Other Services 1 Network management NMT The NMT controls the DS 301 state machine Upon receipt of the NMT services the communications card operates as listed below 9 2 Communications Card Operation Upon Receipt of NMT Services Service Upon receipt of the service the Remarks communications card Only in the Operational state PDO Start_Remote_Node Switches to the Operational state transmission is possible In the Stopped state transmission of NMT Stop_Remote_Node Switches to the Stopped state services only is possible ENGLISH Enter_Pre Operational z i E P Switches to the Pre Operational state nihe Pre Ope rational State BRO Reset Communication transmission is not possible The communications card reads in the Reset_Node Initializes itself to the restarted state Node ID and 040 to 051 data LL For details about the NMT refer to the us
45. ble 7 1 and 7 2 respectively Table 7 1 Receive PDOs RPDOs Master gt inverter Default COB ID Contents Used to 0x200 Node ID Controlword Control the state transition in DS 402 0x300 Node ID Controlword Control the state transition and issue a vi target velocity speed command in DS 402 0x400 Node ID Writing to inverter s function codes Write to four inverter s function codes specified by 040 041 042 and 043 assigned Table 7 2 Transmit PDOs TPDOs Inverter gt master Default COB ID Contents Used to 0x180 Node ID Statusword Control the state transition in DS 402 0x280 Node ID Statusword Control the state transition and issue a vl control effort speed command in DS 402 0x380 Node ID Reading from inverter s function codes Read from four inverter s function codes specified by 048 049 050 and 051 assigned Pinte About the transmission timing of transmit PDO The factory default timing is to transmit a PDO to the CANopen master every time the parameter value changes or at the time specified by Event timer so the transmission timing is not synchronous with commands specified in a receive PDO In some cases therefore the inverter transmits three PDOs in succession For example although the master issues commands in receive PDO 2 only it receives responses PDOs 1 and 3 also from the inverter To prevent it the user can disable transmit PDOs individually see Sect
46. bought the product or your local Fuji branch office Paste Neither an EDS file nor a terminating resistor comes with this communications card An EDS file is required for registering this communications card to the configurator designed for CANopen master node settings It is available as a free download from our website at http web1 fujielectric co jp Kiki Info EN User index html Before downloading you are requested to register as a member free of charge A terminating resistor of the following specifications must be used 120 ohm 1 1 4 watt metal film resistor m Please check the user s manual of an inverter about an object inverter and a ROM version ENGLISH Chapter 2 NAMES AND FUNCTIONS 2 1 Parts Names Figure 2 1 shows the names of the parts on the CANopen communications card Screw hole left Model ae Release knob z CN1 1 ess i t i Front N KS Back Positioning cutout LED status indicators Screw hole right Figure 2 1 Names of Parts on CANopen Communications Card 2 2 CANopen Terminal Block TERM1 Connect the CANopen communications cable to the CANopen terminal block EK For details about wiring refer to Chapter 4 WIRING AND CABLING 2 3 LED Status Indicators This communications card has two LED status indicators that indicate the operation status of the communications card as listed in Table 2 1 Table 2 1 LED Status Indicators and Operation Status Statu
47. cation of 10 transmits a PDO every time the inverter receives a Sync signal 10 times 241 to 251 Reserved 252 Synchronous RTR only Disable 253 Asynchronous RTR only Disable 254 Asynchronous 1 Transmit a PDO at the intervals specified by Event timer 255 Asynchronous 2 Transmit a PDO every time data changes and at the time specified by Event timer The communications card does not support CAN Remote Frames 4 Inhibit time This parameter specifies the minimum interval in units of 0 1 ms for PDO transmission It has priority over the transmission type settings m The inhibit time can be modified only when the PDO is disabled that is bit 31 of the COB ID is 1 Paste Specifying a too small value to the inhibit time increases the frequency of data transmission resulting _ in a lot of CANopen network traffic It may degrade the performance of the overall CANopen network Adjust the inhibit time setting properly according to your network configuration 5 Event timer ENGLISH This parameter specifies the cyclic interval in units of 1 ms for PDO transmission which takes effect in transmission type 254 or 255 21 Chapter 8 SDO PROTOCOL 8 1 About SDO The Service Data Object SDO protocol is used to configure or adjust the communications card The SDO allows access to all objects parameters of the communications card The communications card supports a single Server SDO F
48. ccurs CANopen service automatically sends an EMCY message to the CANopen master see Chapter 9 and writes the alarm code into Index 1003 sub 1 Standard error field and Index 603F Error code Note that the EMCY message cannot be retained so that it cannot be read out later 2 Read out alarm codes using inverter s function codes M16 M17 M18 and M19 latest last 2nd last and 3rd last alarm codes Table 14 1 lists alarm codes available However when there is no alarm code in an inverter it ignores Table 14 1 Alarm Codes Alarm codes Alarm codes Error M16 to Description Display Error M16 to Description field M19 field M19 No alarm Overload of motor 1 Overcurrent Overload of motor 2 during acceleration Overcurrent Overload of motor 3 during deceleration Overcurrent during Overload of motor 4 running at constant speed Earth fault Inverter overload Overvoltage Over speed error during acceleration Overvoltage Wiring break ina PG during deceleration Overvoltage Wiring break in a NTC during running at constant thermistor speed or being stopped Undervoltage Memory error Input phase loss Keypad communications error Input Frequency fault CPU error Blown AC Fuse CANopen communication error Blown fuse CANopen error Blown DC Fuse Operation protection Charger circuit fault Tuning error Heat sink overheat RS 485 communications erro
49. d the communications card Otherwise a fire or an accident might result Incorrect handling in installation removal jobs could cause a failure A failure might result 3 1 Installing the Communications Card i Paste Before mounting the communications card perform the wiring for the main circuit terminals and control circuit terminals 1 Remove the front cover from the inverter and expose the control printed circuit board control PCB The communications card can be connected to the option connection ports on the inverter s control PCB Check the user s manual of an inverter about the connection port of the communications card To remove the front cover refer to the inverter Instruction Manual WIRLING 2 Insert connector CN1 on the back of the communications card Figure 2 1 into the option connection ports on the inverter s control PCB Then secure the communications card with the two screws that come with the card Figure 3 2 Paste Check that the positioning cutout shown in Figure 2 1 is fitted on the tab in Figure 3 1 and e connector CN1 is fully inserted O in Figure 3 1 Figure 3 2 shows the communications card correctly mounted 3 Perform wiring to the communications card For details refer to Chapter 4 WIRING AND CABLING 4 Put the front cover back into place EM To put back the front cover refer to the inverter Instruction Manual WIRLING ENGLISH O Fit t
50. d the red ERR LED is OFF or flashes Step4 Setting a link break detector object Heartbeat or Node Guarding To detect a link break enable either Heartbeat or Guarding on both the master node and the communications card LL For details about the configuration of the Heartbeat and Node Guarding refer to Chapter 12 A Mate At the factory CANopen devices are so set up that their link break detectors are disabled Unless the user enables the link break detector the CANopen network including the communications card does not detect a communications link break if any It is strongly recommended that the link break detector be enabled ENGLISH Step 5 Sending a Start Remote Node command from the master node equipment to the communications card Operational state Upon receipt of the Start Remote Node command the communications card turns the green RUN LED ON and switches to the Operational state Accordingly the master node can control or monitor the inverter in real time via PDO transmission LL For data format of the PDO transmission refer to Chapter 7 PDO PROTOCOL Chapter 7 PDO PROTOCOL 7 1 Overview The Process Data Object PDO protocol is used to exchange process data e g run commands speed monitor between the CANopen master and the inverter in a pre defined cycle The communications card supports three receive PDOs RPDOs Master inverter and three transmit PDOs TPDOs Inverter gt master as listed in Ta
51. e ID and baud rate Register the communications card to the master node using the EDS file prepared for the communications card LL For details about the configuration of the CANopen master equipment refer to the user s manual or documentations of your master equipment Nate An EDS file which is required for registering the CANopen communications card to the CANopen Master does not come with the communications card It is available as a free download from our website at http web1 fujielectric co jp Kiki Info EN User index html Before downloading you are requested to register as a member free of charge Step 2 Specifying the Node ID and the baud rate of the communications card using inverter s function codes Specify the Node ID and baud rate of the communications card using 031 and 032 respectively Those settings should match the ones specified for the master node Configure inverter s function codes 027 and 028 if needed For details about function codes 027 and 028 refer to Chapter 13 INVERTER REACTIONS TO CANopen NETWORK BREAKS Step 3 Restarting the inverter gt gt Pre Operational state Restarting the inverter automatically goes to the Pre Operational state in which it is ready to communicate with the CANopen master if the master and the inverter are correctly configured and wired to the network LED status indicators on the communications card in the Pre Operational state The green RUN LED flashes an
52. er CANopen objects Defaults Inverter s function code y98 3 The format of PDO 2 is shown below W Receive PDO Master gt Inverter COB ID Byte 0 Byte 1 Byte 2 Byte 3 Controlword 0x301 L byte H byte E Transmit PDO Inverter Master COB ID Byte 0 Byte 1 vl_target_velocity Lbyte H byte Byte 2 Byte 3 Statusword vl_control_effort 0x281 Lbyte H byte Lbyte H byte Upon receipt of Start Remote Node service from the master the inverter shifts to the Operational state The green RUN LED on the communications card comes ON in which it is ready for PDO communication At the same time the inverter responds to the master with the following transmit PDO 2 The lower byte of Statusword Bytes 0 and 1 is 50 indicating that the state machine is in state 2 Transmit PDO COB ID Inverter gt Master 0x281 To shift the state machine from state 2 to state 3 send the following data in Controlword Bytes 0 and 1 from the master Receive PDO COB ID Master Inverter 0x301 Upon receipt of the above the inverter responds to the master with the following transmit PDO The lower byte of Statusword Bytes 0 and 1 is 31 indicating that the state machine is in state 3 Transmit PDO COB ID Inverter Master 0x281 35 ENGLISH To shift the state machine from state 3 to state 4 send the following data in Controlword Bytes 0 and 1 from the master Receive
53. er s manual or documentations of your master equipment or CANopen Specifications DS 301 published by CiA 2 Heartbeat and Node Guarding Heartbeat and Node Guarding are services for detecting network breaks The implementation of either Heartbeat or Node Guarding is recommended LA For details about Heartbeat and Node Guarding refer to Chapter 12 Heartbeat and Node Guarding ACAUTION Important Implementation of either Heartbeat or Node Guarding is recommended At the factory CANopen devices are so set up that their link break detectors are disabled Unless the user enables the link break detector the CANopen network including the communications card does not detect a communications link break if any It is strongly recommended that the link break detector be enabled 23 3 Emergency EMCY This service allows the communications card to automatically transmit the content of an alarm that has occurred in the inverter The transmission format is shown below COB ID Byte 0 Byte 1 Byte 2 Byte3 Byte4 Byte5 Byte6 Byte7 0x80 Error field Error Node ID L byte H byte register Error field Content of an alarm that has occurred Error register 1 An alarm has occurred 0 No alarm Functionally equivalent to Index 1001 ER For details about alarm codes refer to Chapter 14 LIST OF INVERTER ALARM CODES 24 Chapter 10 LIST OF OBJECTS This chapter describes objects parameters supported b
54. ery time data changes Inhibit time Specifies the minimum interval in units of 0 1 ms for PDO transmission Default 100 10 0 ms Event timer Specifies the cyclic interval ms for PDO transmission which takes effect in transmission type 254 or 255 Default 0 Disable The resolution of the timer is 2 ms Specifying an odd value automatically raises it to the nearest even value Specification of 119 ms for example is treated as 120 ms 2 COB ID This parameter specifies an 11 bit ID value of communication object identifier of each PDO The default value varies depending upon the Node ID If the Node ID of the communications card is 1 for example the COB ID of TPDO 2 is 0x281 Writing 1 to the most significant bit bit 31 disables the TPDO Paste Only when the PDO is disabled its COB ID value can be modified Tm The CAN ID value is 11 bits long Bits 11 through 30 are fixed to 0 20 3 Transmission type The transmission type in a TPDO specifies the transmission timing of the PDO to the CANopen master Table 7 7 lists the transmission types available Table 7 7 Transmission Types Available in Transmit PDO TPDO Transmission type Type name Operation Acyclic Synchronous Transmit a PDO upon receipt of a Sync signal if data has changed 1 to 240 Cyclic Synchronous Transmit a PDO every time the inverter receives a Sync signal by the specified times 1 to 240 times Example Specifi
55. et velocity Speed command r min INTEGER16 ocity demand Speed monitor r min INTEGER16 ntrol effort Same as above INTEGER16 Error code locity min max amount ARRAY ber of entries Number of sub indexes 2 UNSIGNED8 Minimum output speed r min Eguivalent to inverter s function UNSIGNED32 code F16 Maximum speed r min Eguivalent to inverter s function UNSIGNED32 codes F03 A01 b01 r01 1 ocity min mount vl velocity max amount 30 Object name Description vi velocity acceleration Specifying acceleration using the Delta speed and Delta time Equivalent to inverter s function code S08 Data type Access RECORD Number of entries Number of sub indexes 2 NSIGNED8 Delta speed Delta speed r min in acceleration during the Delta time NSIGNED32 Delta time Delta time s NSIGNED16 vl velocity deceleration Specifying deceleration using the Delta speed and Delta time Equivalent to inverter s function code S09 RECORD Number of entries Number of sub indexes 2 NSIGNED8 Delta speed Delta speed r min in deceleration during the Delta time NSIGNED32 Delta time Delta time s NSIGNED16 vi velocity quick stop Specifying deceleration time for quick stop using the Delta speed and Delta time H56 Equivalent to inverter s function code RECORD Number of entries Number of s
56. hapter 13 INVERTER REACTIONS TO CANopen NETWORK BREAKS Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Node ID of Me Aer 0000 monitor target Heartbeat monitoring time ms 3 Producer heartbeat time The heartbeat producer automatically keeps transmitting a heartbeat signal in the specified cycle in units of 1 ms Any other node s heartbeat consumer monitors the heartbeat signal 41 12 2 Node Guarding The Node Guarding service monitors guarding signals transmitted in a pre defined cycle by a CANopen master in order to detect a CANopen network break LL For details about Node Guarding refer to the CANopen Specifications DS 301 Mate The concurrent use of Heartbeat and Node Guarding is prohibited The concurrent use blocks a normal detection of a CANopen network break To use Node Guarding disable Heartbeat by setting 0 to both Indexes 1016 and 1017 Refer to Section 12 1 1 List of related objects Guarding receiving interval ms Guard time UNSIGNED16 Default 0 Disable Guarding time factor Default 0 Disable Life time factor UNSIGNED8 2 Guard time and life time factor The guard time and the life time factor define the receiving interval of a guarding signal transmitted by the CANopen master If no guarding signal is received within the specified receiving time it is judged as an occurrence of a CANopen network break The receiving interval is calculated with the followi
57. he function code Index 5FOO Sub xx Code type See Table 10 3 xx Number 1 Example E01 gt Index 5F05 Sub 02 29 UNSIGNED16 ENGLISH 2 For details about how to specify the function codes refer to Chapter 7 Section 7 2 4 Configuring inverter s function codes 040 to 043 048 to 051 and Indexes 5E00 and 5E01 Tin Modifying function code assignments using Index 5E00 or 5E01 immediately takes effect in the inverter Note that restarting the inverter or issuing ResetNode to the inverter reverts them to the ones made by 040 to 043 and 048 to 051 3 For details about function code type refer to Table 7 3 For details about the data format of function codes assigned refer to the RS 485 Communication User s Manual Chapter 5 Section 5 2 Data Formats 4 Turning the inverter power OFF clears the current settings of inverter s function codes S01 S05 S06 S07 S12 S13 and S19 10 3 Standard Device Profile Area Table 10 4 lists objects in the standard device profile area In the Access column R denotes Read only and RW Read Write Table 10 4 Objects in Standard Device Profile Area Object name Description Data type Access Alarm history latest alarm info For details refer to Table 14 1 UNSIGNED IG Drive control Controlword Controlling the DS 402 state UNSIGNED16 machine Status monitor atusword Displaying the status of the DS 402 UNSIGNED16 state machine targ
58. he positioning cutout of the communications card over the tab on the inverter to determine the mounting position Hi Q Insert connector CN1 on the communications Jm JE YN card into the option connection ports on the 1 inverter s control PCB Note Be sure to follow the order of and amp Inserting CN1 first may lead to insufficient Tua insertion resulting in a contact failure Figure 3 1 Mounting the Communications Card to FRENIC MEGA A port Tab Release knob Figure 3 2 Mounting Completed to FRENIC MEGA A port 3 2 Removing the Communications Card Remove the two screws that secure the communications card and pull the release knob shown above to take the communications card out of the inverter Chapter 4 WIRING AND CABLING ANWARNING Before changing the switches turn OFF the power and wait at least 10 minutes Make sure that the charging lamp is turned OFF Further make sure using a multimeter or a similar instrument that the DC link bus voltage between the terminals P and N has dropped to the safe level 25 VDC or below Qualified electricians should carry out wiring Otherwise an electric shock could occur n general the covers of the control signal wires are not specifically designed to withstand a high voltage i e reinforced insulation is not applied Therefore if a control signal wire comes into direct contact with a live conductor of the main circuit the in
59. i u mala NS Xs sale o mix slo 809726089 F gt 000004 7 26 gt 140160000 041A 16 73 00 P9o00000 gt 8000 1 00 PON 1 e 0x180 0 00 ID m Statuswrd byte Statuswrd byte Stat usword P 4021 000000000000 Satswrd 000000 110011 1 9001 00000000 000 40201 0000000 2 00 PDO No 2 ee_leln 0280 0 00 ID o Statusword byte Statuswrd byte vl control effort byte r nnn vi control effort byte r nnn Statuswrd DSP 420 000000000000 vi control effort 000000 r mn Statuswrd vi control effort 000000 100 11 1 amwpenp 00000000000 BP 402417 000000000000000 3 00 PDONo 3 0000000000000 ol 0510 0000000000000000000000000000000 0000000000 400000 00000000 EL 048 510 000007 2 40000000000 0400 043 048 0510 0 Index 5EOOF 5EO1 0 00010000000000 00000000000000000000000000000008 450000000000000 05005200000000000000000000 Es 00300000 00000000000000000 000000000000000 5 Cape I 0 0 00000000 000000000000 de OO Index 5601 sui 4000000000000000000000000000 0 00000000000000000000000000000 0 0 000000 048 001000000000000 dEs 0000000 PO000000000000000075 3 Transmission type 0000 00000000000
60. ies and or substantial property damage Failure to heed the information contained under the CAUTION title can also result in serious consequences These safety precautions are of utmost importance and must be observed at all times Installation and wiring AWARNINGA Before changing the switches turn OFF the power and wait at least 10 minutes Make sure that the charging lamp is turned OFF Further make sure using a multimeter or a similar instrument that the DC link bus voltage between the terminals P and N has dropped to the safe level 25 VDC or below Qualified electricians should carry out wiring Otherwise an electric shock could occur ACAUTION Do not use the product that is damaged or lacking parts Doing so could cause a fire an accident or injuries Prevent lint paper fibers sawdust dust metallic chips or other foreign materials from getting into the inverter and the communications card Otherwise a fire or an accident might result Incorrect handling in installation removal jobs could cause a failure A failure might result Noise may be emitted from the inverter motor and wires Implement appropriate measure to prevent the nearby sensors and devices from malfunctioning due to such noise Otherwise an accident could occur Operation AWARNINGA Be sure to install the front cover before turning the inverter s power ON Do not remove the cover when the in
61. inal pins 2 CAN_L and 3 CAN_H 1209 1 1 4 W Paste Terminating resistors do not come with this communications card They are separately necessary 4 3 Wiring to Inverter Et Route the wiring of the CANopen communications cable as far from the wiring of the main circuit as possible Otherwise electric noise may cause malfunctions Tino Route the wires taking care not to let them go over the control PCB malfunctions may occur foe pg Ui PEARCE i Pass the wires from the communications card between the control circuit terminal block and the front cover In the case of FRENIC MEGA 0 4 KW ENGLISH In the case of FRENIC MEGA 75 kW Figure 4 5 Examples of Wiring Chapter 5 CONFIGURING INVERTER S FUNCTION CODES FOR CANopen COMMUNICATION To perform data transmission between the inverter equipped with this communications card and the CANopen master configure the function codes listed in Table 5 1 Table 5 2 lists inverter s function codes related to CANopen communication Configure those function codes if necessary Table 5 1 Inverter s Function Code Settings Required for CANopen Communication Factory Description default Function code data Remarks setting Function codes Specify Node ID 0 to 255 Setting 0 or 128 or greater station address Specify any of 0 to 127 is regarded as 127 Specify baud rate 0 to 255 The baud rate specified Specify any of 0 to 7 here should be con
62. ings to TPDO 3 for write No assignment are used in PDO 3 048 to 051 2 Specify the function code to be assigned 0 0000 to FFFF hex to RPDO 3 for readout No assignment 1 For details about function codes 027 and 028 refer to Chapter 13 INVERTER REACTIONS TO CANopen NETWORK BREAKS 2 For details about how to configure the function codes 040 to 043 and 048 to 051 refer to Chapter 7 Section 7 2 4 Configuring inverter s function codes 040 to 043 048 to 051 and Indexes 5E00 and 5E01 After configuring them turn the inverter power OFF and then ON or issue ResetNode from the CANopen master to the communications card to validate the new settings Chapter 6 ESTABLISHING A CANopen COMMUNICATIONS LINK This chapter guides you to establish a CANopen communications link between the CANopen master and this communications card mounted on the inverter slave node Follow the steps below Step 1 Configuring the CANopen master equipment Step 2 Specifying the Node ID and the baud rate of the communications card using inverter s function codes Step 3 Restarting the inverter gt Pre Operational state Step 4 Setting a link break detector object Heartbeat or Node Guarding Step 5 Sending a Start Remote Node command from the master node equipment to the communications card gt Operational state Each of the above steps is detailed below Step 1 Configuring the CANopen master equipment Specify the master Nod
63. ion Atmosphere The inverter must not be exposed to dust direct sunlight corrosive gases flammable gases oil mist vapor or water drops Pollution degree 2 IEC60664 1 Note The atmosphere can contain a small amount of salt 0 01 mg cm2 or less per year The inverter must not be subjected to sudden changes in temperature that will cause condensation to form Altitude 1 000 m max Atmospheric pressure 86 to 106 kPa Note Do not install the inverter in an environment where it may be exposed to lint cotton waste or moist dust or dirt which will clog the heat sink of the inverter If the inverter is to be used in such an environment install it in a dustproof panel of your system 16 2 CANopen Specifications Table 16 2 lists the CANopen specifications for this communications card For the items not covered in this section the specifications of the CANopen apply Table 16 2 CANopen Specifications Physical layer CAN ISO11898 Node ID 1 to 127 Specified by inverter s function code 031 Baud rate 20 50 125 250 500 800 kbit s Specified by inverter s function code 032 1 Mbit s Maximum cable length See Table 16 3 ENGLISH Applicable profile Compliance with the following profile CiA DS 301 Ver 4 02 CiA DS 402 Ver 2 0 with Velocity Mode Table 16 3 Maximum Cabling Length for CANopen Communication Baud rate bit s 20k 50k 125k 250 k 500 k 800 k 1M Maximum cabling length 2500m 1000m
64. ion 7 5 2 COB ID It is also possible to set the transmission timing to a pre defined cycle see Section 7 5 3 Transmission type Enabling disabling individual PDOs The factory default is to enable all PDOs Setting 1 to bit 31 of COB ID of each PDO disables the PDO producing no response ENGLISH Nate Hate No change allowed for assignment of PDOs The assignment of PDOs is fixed and cannot be changed by PDO Mapping Parameter Index 1600 to 1602 1A00 to 1A02 Tin The PDO protocol is available only in the Operational state 7 2 Receive PDO Master gt inverter 1 Receive PDO 1 COB D 0x200 Node ID lo Controlword lower byte Controlword upper byte Controlword Control command for the DSP 402 state machine to control the inverter operation For details about the Controlword and DSP 402 state machine refer to Chapter 11 Section 11 1 Driving with CANopen Drive Profile DSP 402 2 Receive PDO 2 0x300 Node ID lo Controlword lower byte Controlword upper byte vi target velocity lower byte r min vi target velocity upper byte r min Controlword Control command for the DSP 402 state machine to control the inverter operation vl target velocity Speed command r min LL For details about the Controlword vl control effort and DSP 402 state machine refer to Chapter 11 Section 11 1 Driving with CANopen Drive Profile DSP 402 3 Receive PDO 3 Th
65. is format is for constantly writing data of function codes up to four previously specified by inverter s function codes 040 to 043 0x400 Node ID ser defined ower by ion code specified by 040 function code specified by 040 function code specified by 041 function code specified by o41 unction code specified by 042 function code specified by 042 ion code specified by 043 ser defined a of function code specified by 043 E For details about the function codes 040 to 043 refer to the next item 4 Configuring inverter s function codes 040 to 043 048 to 051 and Indexes 5E00 and 5E01 LL For details about the data format of function codes assigned refer to the RS 485 Communication User s Manual Chapter 5 Section 5 2 Data Formats Mate Jf the same function code is assigned to more than one out of 040 to 043 codes only the one assigned to the smallest o code number becomes effective and all the rest will be treated as not assigned For example if the same function code is assigned to 040 and 043 040 becomes effective and 043 does not Once you have modified the 040 to 043 data be sure to restart the inverter or issue ResetNode from the CANopen master to the inverter to validate the new settings Tim Object s Index 5E00 Sub 1 to 4 can also assign inverter s function codes Those assignments immediately take effect Note that restarti
66. le 4 1 Functions of CANopen Terminals Description CAN_GND Signal ground CAN_L CAN L bus line CAN_H CAN H bus line CAN_SHLD Terminal for connecting the cable shield CAN_V 2 NC 1 This terminal is not connected to the internal circuit on the communications card Perform functional grounding if necessary 2 This terminal is not connected to the internal circuit on the communications card No output voltage is applied to this terminal 2 CANopen communications cable To connect the communications card to CANopen network be sure to use a CANopen dedicated cable The maximum cabling length is listed below Table 4 2 Maximum Cabling Length for CANopen Communication Baud rate bit s 20k 50k 125k 250k 500 k 800 k 1M Maximum cabling length 2500m 1000m 500 m 250 m 100 m 50m 25m 3 Wiring to CANopen terminal block Before connecting the CANopen communications cable to the terminal block strip the wire ends as specified in Figure 4 3 and twist the core and shield wires Figure 4 4 shows the recommended terminal screw size and its tightening torgue Screw size M2 5167 mm Tightening torque 0 22 to 0 25 N m gt Figure 4 3 Strip Length of the CANopen Cable Wire End Figure 4 4 Connecting Wire to CANopen Terminal Block 4 Terminating resistor When the communications card is mounted on the inverter at either end of the network insert the terminating resistor specified below between term
67. minals bits 13 14 XF XR Communication control input terminals Digital input terminals XF FWD and XR REV bit 15 RST Change from 0 to 1 to clear the tripped state The number of terminals differs with an inverter 37 W Inverter s communication dedicated function code M14 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8 bit 0 FWD 1 Running forward bit 1 REV 1 Running reverse bit 2 EXT 1 During DC braking or pre exciting bit 3 INT 1 Inverter shutdown bit 4 BRK 1 Braking bit 5 NUV 1 DC link bus voltage established bit 6 TL 1 Torque limiting bit 7 VL 1 Output voltage limiting bit 8 IL 1 Output current limiting bit 9 ACC 1 During acceleration bit 10 DEC 1 During deceleration bit 11 ALM 1 Alarm relay output bit 12 RL 12 Communication active bit 15 BUSY 1 Busy in writing function codes W Inverter s communication dedicated function code S05 This specifies the frequency command in units of 0 01 Hz Data setting range 327 68 to 327 67 Hz W Inverter s communication dedicated function code M09 This shows the current output frequency in units of 0 01 Hz Data setting range 327 68 to 327 67 Hz 38 3 Communication example This section gives an actual communication example that uses S06 in order to drive the inverter This example uses PDO 3 under the following conditions Node ID of the inverter communication
68. n type 0000000 255 state event 3rd Recei ve PDO Connuni cat i 7 700 on r Nunber of entries 0000 2 GRID GRID Transnnssi on type 0000000 255 state event 7 70 0 1st Recei ve PDO Mapping Para Nunber of napped obj ects 00000 1 PDO nappi ng entryl vor d 2nd Recei ve PDO Mappi ng Par anet er Nunber of napped obj ects 0000000000 2 PDO nappi ng entryl 0x60400010 Control word PDO nappi ng entry2 0x60420010 vl target vel oci ty 3rd Recei ve PDO Mappi ng Par anet er Nunber of napped obj ects 0000000000 4 PDO nappi ng entry1 0x5F020110 00000000000 D PDO nappi ng entry2 0x5F020210 00000000000 2 PDO nappi ng entry3 0x5F020310 00000000000 3 PDO nappi ng entry4 0x5F020410 00000000000 4 25 0200 000 ID 0300 000 ID 0x400 000 ID 00000000 Ist Transnit PDO Conmani cati on Paranet er Largest sub i ndex O O sub index 1 5 QGRID TPDO No 17 CBID 000000 04180 000 ID Transnissi on type 0000000000040 000 000000 255 Change of state event U 7 500 7 700 Inhi bit tine Event ti ner 2nd Transnht PDO Conmuni cati on Par anet er Largest sub i ndex O O su index 0 QGRID TPDO Nb 2 CB 000000 0280 000 ID Transnissi on type 000000000000
69. ng expression Guarding receiving interval ms Guard time ms x Life time factor Example If the guard time is 100 ms and the life time factor is 5 Guarding receiving interval 100 ms x 5 500 ms For inverter reactions to apply when a CANopen network break occurs refer to Chapter 13 INVERTER REACTIONS TO CANopen NETWORK BREAKS 42 Chapter 13 INVERTER REACTIONS TO CANopen NETWORK BREAKS nverter s function codes 027 and 028 define inverter reactions to apply if the inverter detects a CANopen network break as listed in Table 13 1 n any of the following cases the communications card judges it as an occurrence of a network break Network break detected by Consumer Heartbeat or Node Guarding Occurrence of bus off in CAN L For details about Consumer Heartbeat or Node Guarding refer to Chapter 12 Heartbeat and Node Guarding L If a communications error occurs the LED status indicators on the communications card indicate the error state For details refer to Chapter 2 Section 2 3 LED Status Indicators Fate After network breaks are detected despite the function code 027 setting the operation status gt switches to Pre Operational state After the network breaks are solved it continues Pre operational state PDO transmission constant periodic communication cannot be performed in the Pre Operational state To resume PDO transmission after the network breaks are solved send a Start Remote Node command from
70. ng the inverter or issuing ResetNode to the inverter reverts those assignments to the ones made by 040 to 043 To The reflection timing of individual receive PDOs can be modified Refer to Section 7 4 3 ua Transmission type The factory default timing is to reflect to the inverter immediately after receipt of PDO 4 Configuring inverter s function codes 040 to 043 048 to 051 and Indexes 5E00 and 5E01 Specifying the function code type shown in Table 7 3 and number in a 4 digit hexadecimal notation However when there is no alarm code in an inverter it ignores LILILILI E Function code number hexadecimal Function code type in accordance with Table 7 3 Table 7 3 Function Code Type Type code n Type code 0x10 Type code 0x11 0x12 0x13 0x14 0x17 0x18 0x19 0x1A M F E C P H A o L 0x1B 0x1C ENGLISH 0x1D Ox1E Example For F26 F Type code 04 26 1A hexadecimal Ox1F 041a 7 3 Transmit PDO Inverter gt master 1 Transmit PDO 1 COB ID 0x180 Node ID lo Statusword lower byte Statusword upper byte Statusword Status display of DSP 402 state machine For details about the Statusword refer to Chapter 11 Section 11 1 Driving with CANopen Drive Profile DSP 402 2 Transmit PDO 2 COB 0x280 Node ID o Statusword lower byte Statusword upper byte vi co
71. ntrol effort lower byte r min vi control effort upper byte r min Statusword Status display of DSP 402 state machine vl control effort Output speed monitor r min LL For details about the Statusword and vl control effort refer to Chapter 11 Section 11 1 Driving with CANopen Drive Profile DSP 402 3 Transmit PDO 3 This format is for constantly reading out data from function codes up to four previously specified by inverter s function codes 048 to 051 0x380 Node ID User defined lower byte data of function code specified by 048 upper by ion code specified by 048 ower byt ion code specified by 049 upper by ion code specified by 049 ower byt ion code specified by 050 upper by ion code specified by 050 ower byt ion code specified by 051 ser defined function code 4 read upper by a of function code specified by 051 LL For details about the function codes 048 to 051 refer to Section 7 2 4 Configuring inverter s function codes 040 to 043 048 to 051 and Indexes 5E00 and 5E01 LL For details about the data format of function codes assigned refer to the RS 485 Communication User s Manual Chapter 5 Section 5 2 Data Formats Paste Once you have modified the 048 to 051 data be sure to restart both the inverter and the _ Communications card or issue ResetNode from the CANopen master to the inverter to validate the new settings Tm Object s Index 5E01 Sub 1 to
72. nverter allows you to connect inverter to a CANopen master unit e g PC and PLC and control it as a slave unit using run commands frequency commands and access to function codes This communications card has the following features Communications profile DS 301 Ver 4 02 DSP 402 Ver 2 0 Velocity Mode Transmission speed 20 kbit s to 1 Mbit s Maximum cabling length 25 m 1 Mbit s to 2500 m 20 kbit s Reading and writing all the function codes supported by the inverter This instruction manual does not contain inverter handling instructions Read through this instruction manual in conjunction with the inverter Instruction Manual and be familiar with proper handling and operation of this product Improper handling might result in incorrect operation a short life or even a failure of this product Keep this manual in a safe place Related Publications Listed below are the other materials related to the use of the CANopen communications card OPC COP Read them in conjunction with this manual as necessary RS 485 Communication User s Manual Inverter instruction Manual The materials are subject to change without notice Be sure to obtain the latest editions for use A figure existence of a terminal a function code an alarm code etc which have been written in this manual may change with object inverters Listed below are the CANopen specifications published by CAN in Automation CiA It is recommended that the use
73. open 00000000000000 CJ Moped 0 0 00000000000 BON 9000 0 00000000000000000000 0000 o 088107 Heartbeat D 10 0 rsi 3 Producer heartbeat tine 000000 1nsQ0 0 Heartbeat 000000000000000 Heartbeat 00000000 Heartbeat consuner O O 0000 12 2 Node Guardi ng Node Garding 4840008000 00000000000000000000000 Abpngooood 00000000 L3 Node Gerdingd 0000000000 pengo 3010000000000 ER Heartbeat Node Garding OOO i i CN pen 0000 D O O O Node Gerding 0000000 DFeertbeet 000 000 Index 1018 00 Index 1017 000000000 12 100000 0000000000 Guard ti ne Life tine factor 2 Gard tine 00 Life tine factor 000000 Gedmg 100000000000000000000000000 Garding0 0000000 OOOO er 0000000000000 0000000000000000 Gerding 0 O O ns Guard ti ne ns x Life tine factor OO Guard ti ng 100ns Life tine factor 50000 ar di ng 0000 100ns x 50 500ns CJ 0 00 00000000000000 130 0 Avpn 00000000000000000000 0000 41 0 00 91 BO 0 ez 2800000 0000000000 009 0000000 13 10 0 0 00000000000000000000000000000 Consuner heartbeat 0 0 Node Gard ng 0000000 CNOODOOOOO LL Heartbeat consuner H 0 Node Guarding 00000 200 Heartbeat Node Guar
74. or details about the SDO transfer procedure refer to the user s manuals or documentations of your master equipment or configuration tools For details about the objects Chapter 10 LIST OF OBJECTS 8 2 Response to Abnormal SDO Access If an access to the communications card using the SDO is abnormal the communications card responds to it with Abort codes listed below Table 8 1 Abort Codes for Abnormal SDO Access Abort codes Description 0503 0000 Error in segmented transfer Toggle bit not toggled 0504 0000 SDO timed out 0601 0001 Read request on write only parameter 0601 0002 Write request on read only parameter 0602 0000 Object does not exist Access failed Attempted to write when the EEPROM on the communications card is being used 0606 0000 0607 0010 Data type unmatched 0609 0011 Sub index does not exist 0609 0030 Attempted to write a value out of range Error in writing into an inverter s function code 0800 0021 Attempted to write into S01 S05 or S06 via CANopen network when the RS 485 communications link of the inverter exists Not allowed to write into an inverter s function code 0800 0028 When the inverter is running or writing or when any digital input terminal is ON 22 Chapter 9 OTHER CANopen COMMUNICATION FUNCTIONS 9 1 Overview Table 9 1 overviews the CANopen communication functions of the communications card Table 9 1 CANopen Communication Functions of Communic
75. r COM port 1 External alarm COM port 2 Inverter overheat A D converter defection Motor protection Out of step detection PTC NTC thermistor Braking resistor overheat Output phase loss 44 Alarm codes Error field M16 to M19 Table 14 1 Description Speed mismatching Out of speed control Magnetic error pole sensor Alarm Codes Continued Alarm codes Display Error field M16 to M19 91 5B 92 5C4 93 5D4 Description Feedback error Exterior PID1 Exterior PID2 Exterior PID3 Data save error during undervoltage 250 FA Low battery Position deviation error 251 FB Time information loss Hardware error 252 FC Forced operation Position control error 253 FD Password protection Enable circuit error 254 FE Mock alarm Current input disconnect detection CAN overrun DB transistor failure CAN in error passive Customizable logic error PID1 feedback error Life guard error or Heartbeat error See Note PID2 feedback error USB communications error Recovery from Bus off See Note Drought protection Transmit COB ID Control of maximum starts per hour Protocol error End of curve protection PDO not processed due to length error Anti jam PDO length exceeded Filter clogging error Note
76. r of this communications card read them since this instruction manual is intended for the user who has a basic knowledge of CANopen DS 301 Ver 4 02 DSP 402 Ver 2 0 These specifications are available as a free download from the CiA website at http www can cia de ACAUTION Read through this instruction manual and be familiar with the CANopen communications card before proceeding with installation connections wiring operation or maintenance and inspection ENGLISH Improper handling might result in incorrect operation a short life or even a failure of this product as well as the motor Deliver this manual to the end user of this product Keep this manual in a safe place until this product is discarded B Safety precautions Read this manual thoroughly before proceeding with installation connections wiring operation or maintenance and inspection Ensure you have sound knowledge of the device and familiarize yourself with all safety information and precautions before proceeding to operate the inverter Safety precautions are classified into the following two categories in this manual Failure to heed the information indicated by this symbol may lead to A WARN N G dangerous conditions possibly resulting in death or serious bodily injuries Failure to heed the information indicated by this symbol may lead to A CA U T O N dangerous conditions possibly resulting in minor or light bodily injur
77. s Meaning OFF Powered off or communications error Single flash Stopped Blinking 2 Pre Operational ON Operational OFF No communications error Single flash The CAN controller is Error passive Double flash 3 Network break detected by Heartbeat or Node Guarding Blinking 2 Wrong connection between the communications card and inverter ON The communications card is Bus off 4 Both RUN and ERR are ON CPU error on the communications card 1 Single flash In cycles of 200 ms ON and 1 second OFF 2 Blinking At 2 5 Hz In cycles of 200 ms ON and 200 ms OFF 3 Double flash In cycles of 200 ms ON 200 ms OFF 200 ms ON and 1 second OFF 4 The ERR LED might flash at an indefinite frequency Chapter 3 INSTALLATION AND REMOVAL OF THIS COMMUNICATIONS CARD AWARNING Before changing the switches turn OFF the power and wait at least 10 minutes Make sure that the charging lamp is turned OFF Further make sure using a multimeter or a similar instrument that the DC link bus voltage between the terminals P and N has dropped to the safe level 25 VDC or below Otherwise an electric shock could occur ACAUTION Do not use the product that is damaged or lacking parts Doing so could cause a fire an accident or injuries Prevent lint paper fibers sawdust dust metallic chips or other foreign materials from getting into the inverter an
78. s card 1 Inverter s function code 031 1 Assignment of PDO 3 040 0206 Function code 1 for write S06 048 030E 041 0205 Function code 2 for write S05 049 0309 042 0000 Function code 3 for write None 050 0000 043 0000 Function code 4 for write None 051 0000 Receive PDOs 1 and 2 Disabled That is Index 1400 sub 1 0x80000201 and Index 1401 sub 1 0x80000301 Transmit PDOs 1 and 2 Disabled That is Index 1800 sub 1 0x80000181 and Index 1801 sub 1 x80000281 All other CANopen objects Defaults Inverter s function code y98 3 Function code 1 for read M14 Function code 2 for read M09 Function code 3 for read None Function code 4 for read None The format of PDO 3 assigned as above is shown below W Receive PDO Master gt Inverter COB ID Byte 0 Byte 2 Byte 3 S06 S05 0x401 L byte H B byte L byte H byte No assignment No assignment E Transmit PDO Inverter gt Master COB ID Byte 0 Byte 1 Byte2 Byte 3 MU M09 No assignment No assignment Lbyte H byte Lbyte H byte 9 9 0x381 ENGLISH 39 Upon receipt of Start Remote Node service from the master the inverter shifts to the Operational state green RUN LED ON in which it is ready for PDO communication At the same time the inverter responds to the master with the following transmit PDO 3 Transmit PDO COB ID Bytes 4 to 7 Inverter Master 0x381 00000000
79. sistent 0 125 kbit s 1 20 kbit s with that of the master 2 50 kbit s 3 125 kbit s node 4 250 kbit s 5 500 kbit s 6 800 kbit s 7 1 Mbit s 8 or above 1 Mbit s Select run frequency Available data is If there is no special command source Frequency Run problem with your system command command y98 3 is recommended Inverter Inverter CANopen Inverter Inverter CANopen CANopen CANopen 1 After configuring the function code 031 turn the inverter power OFF and then ON or issue ResetNode from the CANopen master to the communications card to validate the new settings 2 After configuring the function code 032 turn the inverter power OFF and then ON to validate the new setting 3 In addition to y98 the inverter has other function codes related to the run frequency command source Configuring those codes realizes more precise selection of the command sources For details refer to the descriptions of H30 and y98 in the inverter Instruction Manual FUNCTION CODES Table 5 2 Other Related Function Codes 1 Factory Function der Function code codes Description ynn setting range Remarks 027 1 Select the inverter s operation mode to apply when a CANopen communications error occurs 028 1 Set the operation timer to apply when a 0 0s 0 0 sto 60 0 s CANopen communications error occurs 040 to 043 2 Specify the function code to be assigned 0 0000 to FFFF hex These sett
80. sulation of the cover might break down which would expose the signal wire to a high voltage of the main circuit Make sure that the control signal wires will not come into contact with live conductors of the main circuit Failure to observe this precaution could cause an electric shock or an accident NCAUTION Noise may be emitted from the inverter motor and wires Take appropriate measures to prevent the nearby sensors and devices from malfunctioning due to such noise An accident could occur 4 1 Basic Connection Diagram INVERTER OLUR Motor 9 L2 S VO 5 L3 T ec OPC COP CANopen terminal block CANopen dedicated cable CAN transceiver CAN GND__ Y CAN_L CAN_H CAN SHILD t 1 This wire is not connected to the internal circuit on the communications card Perform functional grounding if necessary 2 This wire is not connected to the internal circuit on the communications card No output voltage is applied to this wire Figure 4 1 Basic Connection Diagram ENGLISH 4 2 Wiring for CANopen Terminal Block 1 CANopen terminal block TERM1 The pin assignment of the CANopen terminal block TERM1 is shown in Figure 4 2 and Table 4 1 1 2 3 4 4 5 5 1 2 3 CAN CAN CAN CAN CAN CAN CAN CAN CAN CAN GND L H SHLD SHLD v v GND L H Figure 4 2 Pin Assignment on CANopen Terminal Block Tab
81. swrd Q 00 S 000 000000 210000000000 410000000000000000000000000 Er 0 1110000 5 Operation enabled p000000000000000000000000 32 i DD CIWIDD STWID HO DOO 000000000000000 0000 Ready to switch on STW x00x 0000 00000000 I 13 000000 y 7 Fault reacti on acti ve STW xOx 1111 STW x01x 0111 0 111 00000 0 111 00000000 Not Ready to switch on 000000 470000000000 0000000 1 or CIW DOX xxxx 2 Switch on disabled STW x10x 0000 9 CIWOxxx 0000 CTWOxx x110 2 7 or Y awoox xox 3 Ready to swtch on ee xx0x 1 or STW x01x 0001 CTWOxxx 0000 CWOox x111 3 6 CTWOxxx 0110 2 CIW Dod x00x 4 Swtched on 8 CTWOxx x110 STW x01x 0011 Crwoox 1111 4 5 CIWOxxx 0111 CTWOxxx x01x 5 Operation enabl ed 6 Quick stop acti ve STW x00x 0111 0 0000000000 000000 Switch on di sabl ed 00000 Ready to switch on 000 Sw tched on 000000 am Operation enabl ed 00000 QW Qui ck stop acti ve OO Index 604A7 0000000 Fault reacti on acti ve Faul t 33 000 4000 000 BP 4021 000000000000 000000000000 00000 0000000000 PO 21 000000000000 000000000000000 000000000000000001D 0000000000 3890 1 DO PON 1000 N 30 DD 001 Index 1800 subl 0x80000181 I ndex 1802 subl 0x80000381 000
82. to a stop Transmit PDO COB ID Inverter Master 0x281 36 11 2 Driving with Inverter s Function Code S06 Paste Important To enable run commands specified by S06 all of the following conditions should be satisfied Receive PDOs 1 and 2 Disabled That is Index 1400 sub 1 0x80000xxx and Index 1401 sub 1 0x80000xxx DSP 402 state machine State 2 Inverter s function code y98 2 or 3 1 List of related objects Object name Description Data type Access Inverter s function code S06 Run command Note UNSIGNED16 Inverter s function code M14 Monitors the running status UNSIGNED16 Inverter s function code S05 Frequency command in units of 0 01 Hz INTEGER16 Monitors the output frequency in units of 0 01 Hz INIESEBIS Inverter s function code M09 ate Inverters driven by S06 do not pursue the DSP 402 state machine so the Statusword does not show the inverter status Use inverter s function code M14 instead To drive inverters with S06 using PDO3 is convenient For details about PDO 3 refer to Chapter 7 PDO PROTOCOL 2 Details of related objects W Inverter s communication dedicated function code S06 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8 ENGLISH bit 0 FWD 1 Run forward command bit 1 REV 1 Run reverse command bits 2 to 10 X1 to X9 Communication control input ter
83. ub indexes 2 UNSIGNED8 Delta speed Delta speed r min in deceleration during the Delta time UNSIGNED32 Delta time Delta time s UNSIGNED16 vl pole number Number of poles in motor Equivalent to inverter s function codes P01 A15 b15 r15 1 UNSIGNED8 Modes of operation Choice of mode for DS 402 state machine INTEGER8 Modes of operation display Confirmation of mode selected for DS 402 state machine Fixed at 2 Velocity mode INTEGER8 1 Depending upon the motor selected the equivalent function codes automatically switch n 2 Once the power is turned off the acceleration deceleration slope values are retained but the Delta time is For details about motor selection refer to the inverter Instruction Manua A codes b codes and r codes automatically set to 1 s The Delta speed is recalculated based on the slope values and the Delta time 1 s 31 ENGLISH Chapter 11 DRIVING THE INVERTER VIA CANopen NETWORK There are the following two ways to drive the inverter via CANopen network 1 Driving with CANopen Drive Profile DSP 402 2 Driving with Inverter s Function Code 6 11 1 Driving with CANopen Drive Profile DSP 402 1 List of related objects Object name Description Data type Access Controls the state transition of the state machine Statusword Monitors the current status UNSIGNED16 vl target velocity Speed command r min
84. used throughout this manual Nate This icon indicates information which if not heeded can result in the product not operating to full efficiency as well as information concerning incorrect operations and settings which can result in accidents Tm This icon indicates information that can prove handy when performing certain settings or operations This icon indicates a reference to more detailed information ENGLISH Table of Contents Preface 1 W Safety precautions 1 Chapter 1 BEFORE USING THE COMMUNICATIONS 1 1 Acceptance Inspection Chapter 2 NAMES AND FUNCTIONS 2 4 Parts Names 2 2 CANopen Terminal Block TERM1 2 3 LED Status Indicators Chapter 3 INSTALLATION AND REMOVAL OF THIS COMMUNICATIONS CARD esee 3 1 Installing the Communications Card 3 2 Removing the Communications Card Chapter 4 WIRING AND CABLING 4 1 Basic Connection Diagram 4 2 Wiring for CANopen Terminal Block 4 3 Wiring to Inverter Chapter 5 CONFIGURING INVERTER S FUNCTION CODES FOR CANopen COMMUNICATION 12 Chapter 6 ESTABLISHING A CANopen COMMUNICATIONS LINK 13 Chapter 7 PDO PROTOCOL 7 1 Overview 7 2 Receive PDO Master gt inverter 7 8 Transmit PDO Inverter gt master 7 4 Communications Parameters in Receive PDO 19 7 5 Communications Parameters in Transmit PDO 20 Chapter 8 SDO PROTOCOL 8 1 About SDO 8 2 Response to Abnormal SDO
85. verter power is ON Otherwise an electric shock could occur Do not operate switches with wet hands Doing so could cause an electric shock If you configure the function codes wrongly or without completely understanding inverter Instruction Manual and the inverter User s Manual the motor may rotate with a torgue or at a speed not permitted for the machine Confirm and adjust the setting of the function codes before running the inverter Otherwise an accident could occur Maintenance and inspection and parts replacement AWARNINGA Before changing the switches turn OFF the power and wait at least 10 minutes Make sure that the charging lamp is turned OFF Further make sure using a multimeter or a similar instrument that the DC link bus voltage between the terminals P and N has dropped to the safe level 25 VDC or below Otherwise an electric shock could occur Maintenance inspection and parts replacement should be made only by gualified persons Take off the watch rings and other metallic objects before starting work Use insulated tools Otherwise an electric shock or injuries could occur Disposal ACAUTION Treat the communications card as an industrial waste when disposing of it Otherwise injuries could occur Others AWARNINGAS Never modify the communications card Doing so could cause an electric shock or injuries Icons The following icons are
86. vice name OPC COP STRING Manufacturer HW version Hardware version STRING Manufacturer SW version Software version STRING Guard time Node guarding time ms Default 0 Disable UNSIGNED16 Life time factor Guarding time factor Multiplying the guard time by this factor gives the life time for this node Default 0 Disable NSIGNED8 COB ID EMCY COB ID of EMCY message Readout value 0x080 Node ID UNSIGNED32 Consumer heartbeai ARRAY Number of entries Structures 1 UNSIGNED8 Consumer heartbeai Upper word Node ID of Heartbeat producer Lower word Heartbeat monitor cycle Default 0 Disable NSIGNED32 Producer heartbeat ti Cycle time ms of Heartbeat message transmission Default 0 Disable 25 NSIGNED16 ENGLISH Object name Description Data type Access Identity Object RECORD Number of entries Number of sub indexes 1 UNSIGNE 0x0000025E Vender ID Fuji Electric Group INSIGNE 1st Receive PDO Communication Parameter RECORD Number of entries Number of sub indexes 2 UNSIGNE COB ID of RPDO 1 Default 0x200 Node ID Choice of transmission type Default 255 Change of state event See Tables 7 5 and 7 7 2nd Receive PDO Communication Parameter RECORD Number entries Number of sub indexes 2 UNSIGNE COB ID of RPDO 2 ne Default 0x300 Node ID UNSIGNE Choice of transmission type Default 255 NSIGN
87. y the communications card They are contained in any of the following three areas 1 Communication Profile Area Indexes 1000 to 1FFF This contains a group of objects common to all CANopen communications devices It is stipulated in the CANopen Specifications DS 301 2 Manufacturer Specific Profile Area Indexes 2000 to 5FFF This contains a group of objects exclusively designed for Fuji products and not compatible with other manufacturers CANopen devices It enables access to inverter s function codes 3 Standard Device Profile Area Indexes 6000 to 9FFF This contains a group of objects that controls inverters It is standardized by the CANopen Specifications DSP 402 and is compatible with other manufacturers CANopen devices 10 1 Objects in Communication Profile Area Table 10 1 lists objects in the communication profile area In the Access column R denotes Read only and RW Read Write Table 10 1 Objects in Communication Profile Area Object name Device type Description 0x10192 Data type UNSIGNED32 Access Error register 1 Error 0 No error UNSIGNED8 Pre defined error field ARRAY Number of errors Number of errors that have occurred 1 One error 0 No error NSIGNED8 Standard error field Codes of errors that have occurred See Table 14 1 NSIGNED32 COB ID SYNC COB ID of SYNC message Default 0x080 NSIGNED32 Manufacturer device name De

CANopen 通信カード CANopen Communications Card "OPC-COP"

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CANopen 通信カード CANopen Communications Card &quot;OPC-COP&quot;

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CANopen 通信カード CANopen Communications Card "OPC-COP"