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1. Disposal ACAUTION e Treat the communications card as an industrial waste when disposing of it Otherwise injuries could occur Others WARNINGA e Never modify the communications card Doing so could cause an electric shock or injuries ENGLISH Icons The following icons are used throughout this manual f Note 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 To This icon indicates information that can prove handy when performing certain settings or operations This icon indicates a reference to more detailed information Table of Contents Pia ee 1 M Safety precaulions uneeeesennnnnnnn 1 Chapter 1 BEFORE USING THE COMMUNICATIONS 07 21 51 U SORARRERERBERRERURFEIRERERERSHEBENENEHEBEHEEEEEBEEEEREERTEEN 5 1 1 Acceptance Inspection 222244444nnnnnn een 5 1 2 Applicable Inverters cccceeeeeeeeeeeeeeseeeeeeees 5 Chapter 2 NAMES AND FUNCTIONS eee 6 21 Pans NamM S erteilen 6 2 2 CANopen Terminal Block TERM 6 2 3 LED Status Tea Bee 6 Chapter 3 INSTALLATION AND REMOVAL OF THIS COMMUNICATIONS CARD 2 2 7 3 1 Installing the Communications Card 7 3 2 Removing the Communications Card 9 Chapter 4
2. 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 ENGLISH 29 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 In the Data retention column a check mark N denotes that the object retains the setting even when the power to the communications card is off Table 10 2 Objects in Fuji Specific Profile Area Index f Data CAN communication state 2200 Bus state 0 Normal UNSIGNED8 1 Bus off or Error passive 2 Other errors CANopen communication state 0 Not connected to CAN 3000 Node state 1 Initialization in progress UNSIGNED8 2 Stopped 3 Pre Operational 4 Operational Changing from 0 to 1 reverts the 3001 Restore defaults current values at Indexes 1000 to UNSIGNED8 RW 1 1A02 to defaults Function code 4 read in PDO 3 UNSIGNED16 Assignment of RPDO 3 ARRAY 5E00 2 Default 051 data Number of entries Structures 4 UNSIGNED8 Access to inverter s function code Specifying the function code SF02 to _ Index 5FOO Sub xx 1 to FRENIC s function i SFFF OO Code type See Table 10 3 UNSIGNED16 100 code 3 xx Number 1 Example E01 gt 7 Function code 1 write in PDO 3 UNSIGNED16 Default 040 data Function code assignment 2 for Functio
3. 00 88 13 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 ByteO Byte 1 Byte 2 Byte3 Bytes 4 to 7 Receive PDO COB ID Master Inverter 0x401 Transmit PDO COB ID Inverter gt Master 0x381 2 1 40 88 i 13 00000000 41 Chapter 12 Heartbeat and Node Guarding Heartbeat and Node Guarding are services for detecting a communications link break It is recommended that either one ofthem be used Note Important Use 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 12 1 Heartbeat The heartbeat service monitors signals transmitted by the specified node in order to detect a CANopen network break For details about Heartbeat refer to the CANopen Specifications DS 301 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 i Note 1 List of related objects Consumer heartbeat time ARRAY L
4. 31 ENGLISH nn ER Data vl velocity acceleration Specifying acceleration using the Delta speed and Delta RECORD time Equivalent to inverter s function code S08 6048 mmesema Amaan Bene R _ Ba er 2 Detaime Deltatime s io 72 rw vl velocity deceleration Specifying deceleration using the Delta speed and Delta fe time zellen to inverter s function code S09 6049 0 Number ofentries Number of sub indexes 2 UNSIGNEDS IR Delta speed r min in deceleration 2 Delta speed during the Delta time UNSIGNED32 2 Delta time Delta time s UNSIGNED16 2 RW vi velocity quick stop Specifying deceleration time for quick stop using the Delta RECORD speed and Delta time Equivalent to inverter s function code H56 BORA ES Number of entries Number of sub indexes 2 UNSIGNED8 JR Delta speed r min in deceleration 2 Delta speed during the Delta time UNSIGNED32 Delta time Delta time s UNSIGNED 16 Number of poles in motor 604D vl pole number Equivalent to inverter s function UNSIGNED8 V RW codes P01 A15 b15 r15 1 6060 Modes of operation Sul ae INTEGER8 fw machine Mod f ti Confirmation of mode selected for 6061 zia ya ot operation Ds 402 state machine INTEGER8 ae Fixed at 2 Velocity mode 1 Depending upon the motor selected the equivalent function codes automatically switch For details about motor selection refer to the FRENIC MEGA Instruction Manual Chapter 5 Section 5 2
5. 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 Start_Remote_Node Switches to the Operational state Only N Operational slate 200 transmission is possible Stop Remote Node Switches to the Stopped state 2 ue oppen state ansmisIon ann services only is possible Enter_Pre Operational i j Switches to the Pre Operational state mine e Operations 2 Poe Reset_Communication transmission is not possible en The communications card reads in the Reset_Node Initializes itself to the restarted state Node lD and 040 1 054 data For details about the NMT refer to the user 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 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 CA
6. Figure 4 4 shows the recommended terminal screw size and its tightening torque ENGLISH Screw size M3 5to 7mm Tightening torque 0 5 to 0 6 Nem aid Do rae io 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 terminal pins 2 CAN_L and 3 CAN H 1200 41 1 4 W Note Terminating resistors do not come with this communications card They are separately necessary 11 4 3 Wiring to Inverter 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 Not Route the wires taking care not to let them go over the control PCB as shown in Figure 4 5 Otherwise malfunctions may occur e For inverters with a capacity of 22 kW or below Pass the wires from the communications card between the control circuit terminal block and the front cover In the case of 0 4 kW For inverters with a capacity of 30 kW or above In the case of 75 kW Figure 4 5 Examples of Wiring 12 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 co
7. 31 02 00 00 36 To shift the state machine from state 3 to state 4 send the following data in Controlword Bytes 0 and 1 Byte 0 Byte 1 Byte 2 Byte 3 from the master Receive PDO COB ID Master Inverter 0x301 07 i 00 00 i 00 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 33 02 00 00 Transmit PDO COB ID Inverter gt 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 vI_target_velocity Bytes 2 and 3 OF 00 08 07 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 v control effort Bytes 2 and 3 changes its value so the inverter sends the following data continually until the inverter reaches the target speed Byte 0 Byte 1 Byte 2 Byte 3 Receive PDO COB ID Master Inverter 0x301 Transmit PDO COB ID Inverter gt Master 0x281 To stop the inverter shift the state machine from state 5 to state 4 07 1 00 08107 Upon receipt of the above the inverter
8. 6 A codes b codes and r codes 2 Once the power is turned off the acceleration deceleration slope values are retained but the Delta time is automatically set to 1 s The Delta speed is recalculated based on the slope values and the Delta time 1 s 32 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 S06 11 1 Driving with CANopen Drive Profile DSP 402 1 List of related objects a Seta 6040 ve Conironmara a state transition of the state UNSIGNED16 6041 Statusword Monitors the current status UNSIGNED16 R 6042 Den vi target velocity Speed command r min INTEGER16 6044 vi control effort Speed monitor r min INTEGER16 R Ti 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 Quick Enable Switch on reset operation stop voltage bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8 I _ sel sl tie X4 X3 X2 X1 Reverse Halt J za 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
9. CHBORPRY WRONG E BAO NANDI CBBC ESU e BALKMROREBICOWUTIS LAIDINSIAELANHREINTITRSEALN The purpose of this manual is to provide accurate information in the handling setting up and operating of the CANopen Communications Card for the FRENIC MEGA series of 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 Systems Co Ltd be liable for any direct or indirect damages resulting from the application of the information in this manual Leah E gt r EIERIATLRAISE Fuji Electric Systems Co Ltd KG1 PSEA 7108 0075 RRABMAK BH 27TRA 486135 AF PU AINE URL http www fesys co jp KIT ELEMETIATL HISH HELE T513 8633 SRS mha EHM 5520 Bib Fe iT FHA ZS TEL 0120 128 220 FAX 0120 128 230 Gate City Ohsaki East Tower 11 2 Osaki 1 chome Shinagawa ku Tokyo 141 0032 Japan Phone 81 3 5435 7283 Fax 81 3 5435 7425 URL _http www fesys co jp eng 2008 12 LO8b G08 XXCM
10. Cyclic interval in units of 1 ms for PDO transmission in the 9 Event umer transmission type 254 or 255 Ee ONEDAG Default 0 Disable 3rd Transmit PDO Communication Parameter RECORD COB ID of TPDO 3 1 CORD Default 0x380 Node ID UNS ONE es Choice of transmission type As Default 255 T t NSIGNED e Change of state event NO i 1802 See Tables 7 5 and 7 7 Minimum interval for PDO 3 Inhibit time transmission in units of 0 1 ms UNSIGNED16 Default 100 10 0 ms Cyclic interval in units of 1 ms for PDO transmission in the gt EVER umer transmission type 254 or 255 ENSISDENIS Default 0 Disable 1st Transmit PDO Mapping Parameter RECORD Number of mapped 1A00 Number of mapped objects 1 UNSIGNED8 0x60410010 1 PDO mapping entry1 Statusword UNSIGNED32 2nd Transmit PDO Mapping Parameter RECORD le akmappsd Number of mapped objects 2 UNSIGNED8 objects 1A01 1 PDO mapping entry1 in UNSIGNED32 PDO mapping entry2 en UNSIGNED32 28 z ES ER ER ES B Index er Data Dr 3rd Transmit PDO Mapping Parameter RECORD EEE Number oi mapped Number of mapped objects 4 UNSIGNED3 objects 0x5F030110 PDO mapping entry1 Function code assignment 1 for UNSIGNED32 read 0x5F030210 PDO mapping entry2 Function code assignment 2 for UNSIGNED32 read 0x5F030310 PDO mapping entry3 Function code assignment 3 for UNSIGNED32 read 0x5F030410 PDO mapping entry4 Function code assignment 4 for UNSIGNED32 read
11. 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 47 ENGLISH 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 Surrounding temperature Refer to the FRENIC MEGA Instruction Manual Chapter 2 Relative humidity 5 to 95 No condensation 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 y
12. of 0 01 Hz Data setting range 327 68 to 327 67 Hz E 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 39 ENGLISH 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 communications 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 0x8000030 1 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 N N nen The format of PDO 3 assigned as above is shown below E Receive PDO Master Inverter Byte 0 Byte 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte COB ID 0x401 S06 205 No assignment No assignment L byte H B byte L byte H byte j 7 E Transmit PDO Inverte
13. 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 10 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 Table 4 1 Functions of CANopen Terminals CAN_GND Signal ground CAN L CAN L bus line CAN_H CAN H bus line CAN_SHLD 1 Terminal for connecting the cable shield 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 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
14. output speed at 0 r min bit 11 Reverse Specify the rotational direction 0 Forward 1 Reverse bits 12 to 15 Turn digital input terminals X1 to X4 off or on 0 OFF 1 ON 33 m Statusword bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit O Switch on Quick Voltage Operation Switched Ready to 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 Status display of the state machine See Figure 11 1 bit 3 Fault 1 Tripped bit 4 Voltage enabled 1 Voltage applied to the main circuit bit 7 Warning Not used Fixed at 0 bit 9 Remote 1 Either one of speed and run commands via CANopen is valid bit 10 Target reached 1 Reference speed reached bit 11 Internal limit active 1 Torque voltage or current limiter activated bit 15 Direction of rotation 0 Forward or stop 1 Reverse E vl target velocity This specifies the speed command r min Data setting range 32768 to 32767 r min E vl control effort This monitors the current output speed to display r min Output range 32768 to 32767 r min 3 State machine Operating the state machine the state transition flow in Figure 11 1 stipulated in the DSP 402 drives the inverter Controlword CTW in the figure causes the state transition of the state machine and Statusword STW in the figure monitors the state Table 11 1 lists the commands to the inverter at each
15. 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 VI control effort Bytes 2 and 3 changes its value so the inverter sends the following data continually until the inverter comes to a stop Byte 0 Byte 1 Byte 2 Byte 3 ENGLISH Receive PDO COB ID Master Inverter 0x301 Transmit PDO COB ID Inverter gt Master 0x281 37 11 2 Driving with Inverter s Function Code S06 Note 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 ee onsen 5F02 Inverter s function code S06 Run command Note UNSIGNED16 5F03 Inverter s function code M14 Monitors the running status UNSIGNED16 R 5F02 06 Inverter s function code 05 Frequency command in units of 0 01 Hz INTEGER16 Monitors the output freguency 5F03 Inverter s function code M09 in units of 0 01 Hz INTEGER16 Ro ci Note 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 Tip To drive inverters with S06 using PDO3 is convenient For details about PDO 3 ref
16. 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 Section 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 Note 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 Note 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 Tip The PDO protocol is available only in the Operational state 16 7 2 Receive PDO Master inverter 1 Receive PDO 1 COB ID 0x200 Node ID w 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 Controlword lower by
17. 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 i Note A 19 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 0x1400 RPDO 1 1 COB ID Specifies the CAN ID value and enables disables the 0x1401 RPDO2 PDO 0x1402 RPDO3 Default RPDO 1 0x200 Node ID RPDO 2 0x300 Node ID RPDO 3 0x400 Node ID 2 Transmission type Specifies the reflection timing of RPDO contents Default 255 Reflect to the inverter immediately after receipt of PDO Tip The parameters in Table 7 4 retain their settings even when the power to the communications card is off Writing 1 to Index 3001 Restore defaults initializes the RPDO to the default value 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 bi
18. 0 times a KA MA KS ai osae OOOO 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 f Note The inhibit time can be modified only when the PDO is disabled that is bit 31 of the COB ID is 1 f Note 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 This parameter specifies the cyclic interval in units of 1 ms for PDO transmission which takes effect in transmission type 254 or 255 22 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 Q For details about the SDO transfer procedure refer to the user s manuals or documentations of your master equipment or configuration tools Q For details about the objects Chapter 10 LIST OF OBJECTS 8 2 Response to Abnormal SDO Acce
19. A It is recommended that the user of this communications card read them since this instruction manual is intended for the user who has a basic knowledge of CANopen e DS 301 Ver 4 02 e DSP 402 Ver 2 0 These specifications are available as a free download from the CiA website at http www can cia de ACAUTION e Read through this instruction manual and be familiar with the CANopen communications card before proceeding with installation connections wiring operation or maintenance and inspection e Improper handling might result in incorrect operation a short life or even a failure of this product as well as the motor e Deliver this manual to the end user of this product Keep this manual in a safe place until this product is discarded E 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 CAUTI ON dangerous conditions possibly resulting in minor or lig
20. CODES ENGLISH Table 5 2 Other Related Function Codes Factory Function as Function code Description default Remarks EEE setting ST KZI 027 1 Select the inverter s operation mode to 0 to 15 apply when a CANopen communications error occurs 028 1 Set the operation timer to apply when a 0 0s 0 0 s to 60 0 s CANopen communications error occurs 040 to 043 2 Specify the function code to be assigned 0 0000 to FFFF hex These settings 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 13 Chapter6 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 th
21. Chapter 12 Heartbeat and Node Guarding URA SIAN AE ee en 12 2 Node Guarding rege Chapter 13 INVERTER REACTIONS TO CANopen NETWORK BREAKS Chapter 14 LIST OF INVERTER ALARM CODES Chapter 15 NOTES ON USE OF COMMUNICATIONS Chapter 16 SPECIFICATIONS uuu une c0 une 16 1 Operating Environmenl aaa ee 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 G1 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 bought the product or your local Fuji branch office Note 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 Fuji Electric Systems Co Ltd Technical Information Before downlo
22. English Version ENGLISH Preface Thank you for purchasing our CANopen Communications Card OPC G1 COP Mounting this communications card on your FRENIC MEGA allows you to connect the FRENIC MEGA 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 e Communications profile DS 301 Ver 4 02 DSP 402 Ver 2 0 Velocity Mode e Transmission speed 20 kbit s to 1 Mbit s e Maximum cabling length 25 m 1 Mbit s to 2500 m 20 kbit s e Reading and writing all the function codes supported by the FRENIC MEGA This instruction manual does not contain inverter handling instructions Read through this instruction manual in conjunction with the FRENIC MEGA 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 G1 COP Read them in conjunction with this manual as necessary e RS 485 Communication User s Manual e FRENIC MEGA Instruction Manual The materials are subject to change without notice Be sure to obtain the latest editions for use Listed below are the CANopen specifications published by CAN in Automation Ci
23. Nopen 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 24 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 Byte 3 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 For details about alarm codes refer to Chapter 14 LIST OF INVERTER ALARM CODES 25 ENGLISH Chapter 10 LIST OF OBJECTS This chapter describes objects parameters supported by 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 inv
24. WIRING AND CABLING 2222444444 222 gt 10 4 1 Basic Connection Diagram mmrr4444Heren een 10 4 2 Wiring for CANopen Terminal Block 11 4 3 Wiring to Inverter unssseseseisesieineeiiieeteien 12 Chapter 5 CONFIGURING INVERTER S FUNCTION CODES FOR CANopen COMMUNICATION 13 Chapter 6 ESTABLISHING A CANopen COMMUNICATIONS LINK oasen 14 Chapter 7 PDO PROTOCOL ai 16 7 1 OvervieW ce 16 7 2 Receive PDO Master gt inverter 17 7 3 Transmit PDO Inverter gt master 19 7 4 Communications Parameters in Receive PDO 20 7 5 Communications Parameters in Transmit PDO 21 Chapter 8 SDO PROTOCOL 23 8 1 About SDO 200 cece ccc ceccecceccceccecceecceccecececceeeaeeeeeens 23 8 2 Response to Abnormal SDO Access 23 Chapter9 OTHER CANopen COMMUNICATION FUNCTIONS 0 0c ccccecceccecceecceccececeececeeseneeeass 24 9 1 Overview ce 24 9 2 Other ServiceS w w wewewewawawawamwnwana 24 Chapter 10 LIST OF OBJECTS Aa a ce ana 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 NETWORK 2 11 1 Driving with CANopen Drive Profile DSP 402 11 2 Driving with Inverter s Function Code SO06
25. ading 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 1 2 Applicable Inverters The CANopen communications card is applicable to the following inverters and ROM version Table 1 1 Applicable Inverters and ROM Version FRENIC MEGA FRNOOOG10 000 All capacities 1000 or later The boxes O replace alphanumeric letters depending on the nominal applied motor enclosure power supply voltage etc To check the inverter s ROM version use Menu 5 Maintenance Information on the keypad Refer to the FRENIC MEGA Instruction Manual Chapter 3 Section 3 4 6 Reading maintenance information ENGLISH a aa Inverter s ROM version Shows the inverter s ROM version as a 4 digit code Chapter2 NAMES AND FUNCTIONS 2 1 Parts Names Figure 2 1 shows the names of the parts on the CANopen communications card Screw hole left CN1 Model name TERM1 Release knob a E U Front N 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 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 communic
26. ations card as listed in Table 2 1 Table 2 1 LED Status Indicators and Operation Status ee Powered off or communications error Green Stopped are O Blinking Pre Operational ION Operational ERR rs No communications error Red Single flash 1 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 FRENIC MEGA 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 WARNINGA Before starting installation and wiring turn OFF the power and wait at least five minutes for inverters with a capacity of 22 kW or below or at least ten minutes for inverters with a capacity of 30 kW or above Make sure that the LED monitor and charging lamp are 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 e Do not use the product that is damaged or lack
27. city of 22 kW or below or at least ten minutes for inverters with a capacity of 30 kW or above Make sure that the LED monitor and charging lamp are 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 In 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 insulation 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 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 FRENIC MEGA OPC G1 COP CANopen terminal block CANopen dedicated cable CAN_GND mm paia 1 H i CAN SHILD i V CAN transceiver 1 This wire is not connected to the internal circuit
28. d For details about function codes 027 and 028 refer to Chapter 13 INVERTER REACTIONS TO CANopen NETWORK BREAKS Step 3 Restarting the inverter 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 and the red ERR LED is OFF or flashes Step 4 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 For details about the configuration of the Heartbeat and Node Guarding refer to Chapter 12 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 i Note 14 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 invert
29. des 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 Fe Description default Function code data Remarks setting 031 1 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 consistent 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 BE ae problem with your system command command y98 3 is recommended PO inverter Inverter 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 FRENIC MEGA 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 FRENIC MEGA Instruction Manual Chapter 5 FUNCTION
30. e or Number of entries Structures 1 UNSIGNED8 R 1016 Upper word Node ID of monitor target Consumer heartbeat time Lower word Heartbeat monitoring time UNSIGNED32 Default 0 Disable 1017 Producer heartbeat time Heartbeat message transmitting cycle UNSIGNED16 Default 0 Disabled 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 For inverter reactions to apply when a CANopen network break occurs refer to Chapter 13 INVERTER REACTIONS TO CANopen NETWORK BREAKS Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 0000 Nodes of Heartbeat monitoring time ms monitor target 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 42 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 For details about Node Guarding refer to the CANopen Specifications DS 301 No The concurrent use of Heartbeat and Node Guarding
31. e 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 occurs 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 tne 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 Table 14 1 Alarm Codes Alarm codes Error M16 to Description Display Error M16 to Description Display field M19 field M19 e000 0000 noaa 1 rato art 2510 1001 Overourent 7301 28 104 pc wire break a7 2310 2 021 eae 7300 29 1Dy NTC thermistor wire break 7 4 20 soso ering aca EI 2120 5 05x Grounding fault 7520 32 20 Keypad communication so oasa g etn ir om 3210 7 07 Overvoltage eA 7510 341225 Communications card E H during deceleration hardware error 3210 8 084 aa ae en 8100 35 23 CANopen communications 75 speed or being stopped iad 3220 10 0A Undervoltage hee F004 36 24 Operation protection EE OA 241 5450 14 OE ELIS 7510 38 26 RS 485 communications Eeg 5440 16 104 Chargi
32. e 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 Node ID and baud rate Register the communications card to the master node using the EDS file prepared for the communications card For details about the configuration of the CANopen master equipment refer to the user s manual or documentations of your master equipment An EDS file which is required for registering the CANopen communications card to the CANopen Note hi 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 Fuji Electric Systems Co Ltd Technical Information site 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 neede
33. ear 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 Vibration Refer to the FRENIC MEGA Instruction Manual Chapter 2 Applicable inverters FRENIC MEGA series of inverters ROM Ver 1000 or later 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 Node ID 1 to 127 Specified by inverter s function code 031 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 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 48 CANopen 381 F CANopen Communications Card OPC G1 COP Uvira BA Instruction Manual First Edition July 2008 Fuji Electric Systems Co Ltd CORRRASO MEKISESMRS RM CAR BRAT OCLEILEMY LET TORRADA HRPE LICRETSCEMHVET AZOABIOOWUTE BEEMLTHRKUELELEM B
34. er in real time via PDO transmission For data format of the PDO transmission refer to Chapter 7 PDO PROTOCOL ENGLISH 15 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 Table 7 1 and 7 2 respectively Table 7 1 Receive PDOs RPDOs Master inverter PDO No Default COB ID KEN 0x200 Node ID Controlword Control the state transition in DS 402 0x300 Node ID Controlword Control the state transition and issue a vl 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 PDO No Default COB ID 0x180 Node ID Statusword Control the state transition in DS 402 2 0x280 Node ID Statusword Control the state transition and issue a vl control effort speed command in DS 402 3 0x380 Node ID Reading from inverter s function codes Read from four inverter s function codes specified by 048 049 050 and 051 assigned About the transmission timing of transmit PDO l a The factory default timing is to transmit a PDO to
35. er to Chapter 7 PDO PROTOCOL 2 Details of related objects E Inverter s communication dedicated function code S06 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit O bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8 per foe oe oe foe foe foe oe bit 0 FWD 1 Run forward command bit 1 REV 1 Run reverse command bits 2 to 10 X1 to X9 Communication control input terminals Digital input terminals X1 to X9 supported by FRENIC MEGA 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 38 E Inverter s communication dedicated function code M14 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit O bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8 as o f o a am f w ae bit0 FWD 1 Running forward bit 1 REV 1 Running reverse bit2 EXT 1 During DC braking or pre exciting bit 3INT 1 Inverter shutdown bit 4 BRK 1 Braking bit 5 NUV 1 DC link bus voltage established bit6 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 bit11 ALM 1 Alarm relay output bit 12 RL 1 Communication active bit 15 BUSY 1 Busy in writing function codes E Inverter s communication dedicated function code S05 This specifies the frequency command in units
36. erters 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 In the Data retention column a check mark V denotes that the object retains the setting even when the power to the communications card is off Table 10 1 Objects in Communication Profile Area Index Eur Data 1003 Pre defined error field ARRAY Le i Number of errors that have Number of errors occurred UNSIGNED8 1 One error 0 No error Codes of errors that have Standard error field occurred See Table 14 1 UNSIGNED32 KUTI 1005 COB ID SYNC COBH OT STING message UNSIGNED32 y RW Default 0x080 1008 l en device Device name OPC G1 COP STRING ESEZ Node guarding time ms ti NSIGNED1 sis 5 een Default 0 Disable eee Pele Guarding time factor Multiplying the guard time by 100D Life time factor this factor gives the life time for UNSIGNED8 y RW this node Default 0 Disable COB ID of EMCY message EI eon EEE Consumer heartbeat time ARRAY Dao 0 Number of entries Structures 1 UNSIGNED8 R 1016 Upper word Node ID of Heartbeat producer 1 Consumer heartbeat time Lower word Heartbeat monitor UNSIGNED32 y RW cycle Default 0 Disable Cycle time ms of Heartbeat 1017 Producer heartbeat time message tran
37. he 040 to 043 data be sure to restart the inverter or issue ResetNode from Note the CANopen master to the inverter to validate the new settings a Tip Object s Index 5E00 Sub 1 to 4 can also assign inverter s function codes Those assignments immediately take effect Note that restarting the inverter or issuing ResetNode to the inverter reverts those assignments to the ones made by 040 to 043 Tip The reflection timing of individual receive PDOs can be modified Refer to Section 7 4 3 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 DIOL L Function code number hexadecimal Function code type in accordance with Table 7 3 Table 7 3 Function Code Type o f ob o os on Ce oo we y HEHE er KAA AA or TUI WA Liv ul Example ForF26 F Type code 04 26 1A hexadecimal 18 7 3 Transmit PDO Inverter gt master 1 Transmit PDO 1 COB ID 0x180 Node ID ai 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 ID 0x280 Node ID oo Status
38. he communications card For details refer to Chapter 4 WIRING AND CABLING 4 Put the front cover back into place To put back the front cover refer to the FRENIC MEGA Instruction Manual Chapter 2 Section 2 3 For inverters with a capacity of 30 kW or above close also the keypad enclosure Tab Available Figure 3 1 Inthe case of 0 4 kW Fit the positioning cutout of the communications card over the tab on the fi ai 1 IE Ry HN inverter to determine the mounting position SE ON N wa fs ih Insert connector CN1 on the communications igi 1 3 card into the corresponding port on the ne e i inverter s control PCB a Ty Note Be sure to follow the order of and fa Inserting CN1 first may lead to insufficient Sl fi insertion resulting in a contact failure th i i ji i Ji n ya ji i hh Figure 3 2 Mounting the Communications Card to A port Release knob Figure 3 3 Mounting Completed on 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 ENGLISH Chapter 4 WIRING AND CABLING AWARNINGA e Before starting installation and wiring turn OFF the power and wait at least five minutes for inverters with a capa
39. ht bodily injuries 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 ENGLISH Installation and wiring WARNINGA e Before starting installation and wiring turn OFF the power and wait at least five minutes for inverters with a capacity of 22 kW or below or at least ten minutes for inverters with a capacity of 30 kW or above Make sure that the LED monitor and charging lamp are 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 e 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 c
40. ing parts Doing so could cause a fire an accident or injuries e 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 e Incorrect handling in installation removal jobs could cause a failure A failure might result 3 1 Installing the Communications Card Note 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 As shown in Figure 3 1 the communications card can be connected to the A port only out of the three option connection ports A B and C ports on the inverter To remove the front cover refer to the FRENIC MEGA Instruction Manual Chapter 2 Section 2 3 For inverters with a capacity of 30 kW or above open also the keypad enclosure ENGLISH 2 Insert connector CN1 on the back of the communications card Figure 2 1 into the A port CN4 on the inverter s control PCB Then secure the communications card with the two screws that come with the card Figure 3 3 Check that the positioning cutout shown in Figure 2 1 is fitted on the tab in Figure 3 2 and connector CN1 is fully inserted in Figure 3 2 Figure 3 3 shows the communications card correctly mounted Note 3 Perform wiring to t
41. 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 ua oe onen Guarding receiving interval ms 1 t NSIGNED me f cuam Default 0 Disable WA Raed Guarding time factor 100D a Life time factor Default 0 Disable 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 following 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 43 ENGLISH Chapter 13 INVERTER REACTIONS TO CANopen NETWORK BREAKS Inverter 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 In any of the following cases the communications card judges it as an occurrence of a network break Network break detected by Cons
42. n code 2 write in PDO 3 UNSIGNED16 Default 041 data Function code assignment 3 for Function code 3 write in PDO 3 UNSIGNED16 Default 042 data Function code assignment 4 for Function code 4 write in PDO 3 UNSIGNED16 Default 043 data Assignment of TPDO 3 ARRAY Number of entries Structures 4 UNSIGNED3 Function code assignment 1 for Function code 1 read in PDO 3 UNSIGNED16 Default 048 data Function code assignment 2 for Function code 2 read in PDO 3 UNSIGNED16 Default 049 data Function code assignment 3 for Function code 3 read in PDO 3 UNSIGNED16 Default 050 data Function code assignment 4 for 7 D 7 7 7 A A a gt ze 0 Dez 0 Function code assignment 1 for Index 5F05 Sub 02 1 Writable only in the Operational state 30 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 Tip 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 10 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 Table 10 3 Functi
43. ng circuit fault FF 4310 44 2B Overload of motor 3 23 101 2Bu 4210 17 114 Heatsink overheat der 4310 45 2C Overload of motor 4 9000 18 12 External alarm fitz 3300 46 2E Output phase loss 4210 19 13 8400 47 2F Speed mismatch E E Inverter overheat Excessive speed deviation 4310 20 14 Motor protection FAY 3221 51 33 Data save error due to E F PTC NTC thermistor 7 undervoltage 4210 22 164 Braking resistor overheat c 7510 53 35 RS 485 communications 5 7 error COM port 2 7 H 4310 24 18 4 Overload of motor 2 7200 58 3A PID feedback wire break Lol 4110 25 19 Inverter overload 5400 59 3B Braking transistor broken Toa 45 ENGLISH Table 14 1 Alarm Codes Continued Alarm codes Error M16 to Description Display Ea M1 KI to Description Display field M19 M1 Ei FFOO 254 FE n 254 FE n Mockalarm 0000 oe e oo fonwes 8130 Heartbeat error or Node Guarding error Detection of CANopen network break See Note 8140 Recovery from Bus off See Note Lai Note If this error occurs the inverter issues 5 in accordance with the 027 setting 46 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
44. of the state transition times To Transition to State 5 Operation enabled see Figure 11 1 runs the inverter 34 Note In this flow the upper bytes ofthe CTW and STW are omitted since they are independent of the state machine 1 True 0 False x No related function Start Fronvallisiates 13 Alarm occurred 1 Not ready to switch on 7 Fault reaction active STW x00x 0000 STW x0xx 1111 Reset trip 14 Output shutdown Trip or OTW 1xxx XXXX 8 Fault 15 2 Switch on disabled STW x00x 1000 Internal initialization completed 1 STW x10x 0000 9 CTW 0xxx 0000 CTW 0xxx xx0x CTW 0xxx x110 2 7 or CTW 0xxx x0xx 3 Ready to switch on 10 CTW 0xxx xx0x or CTW 0xxx KOKA STW x01x 0001 Output shutdown 12 or CTW 0xxx x111 3 6 CTW 0xxx 0110 CTW 0xxx x00x v 4 Switched on 8 CTW 0xxx x110 STW x01x 0011 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 otreaay o swichon iitaizaton othe OaNopenconmuricaone card n progress 2 swith on sated ivenoratamroeased OOOO U pema Tmenromamaam _ 35 ENGLISH 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
45. on Code Type pos o a b 3 o a onm Te HERRN SE BETEN DER HERE HEHE en er PC eri wd CS Ca x om S 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 In the Data retention column a check mark V denotes that the object retains the setting even when the power to the communications card is off Table 10 4 Objects in Standard Device Profile Area Index a Data Alarm history latest alarm info u fee For details refer to Table 14 1 PUNE pie Drive control 6040 Controlword Controlling the DS 402 state UNSIGNED16 RW machine Status monitor 6041 Statusword Displaying the status of the DS 402 UNSIGNED16 state machine 6042 le vl target velocity Speed command r min INTEGER16 Oo RW O 6033 vivelocty demand Speed monitor iminy _ _ mmegerte R e044 vicontoi cton Same as above inresere R C Pvelooty min maramot w 6 Number of entries Number of sub indexes 2 unsieneos R vl velocity min Minimum output speed r min 7 Equivalent to inverter s function UNSIGNED32 RW amount code F16 di veloute wax Maximum speed r min amount 7 Equivalent to inverter s function UNSIGNED32 y RW codes F03 A01 b01 r01 1
46. ould occur Operation A WARNINGA e Be sure to install the front cover before turning the inverter s power ON Do not remove the cover when the inverter 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 FRENIC MEGA Instruction Manual and the FRENIC MEGA User s Manual the motor may rotate with a torque 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 A WARNINGA e Before proceeding to the maintenance inspection jobs turn OFF the power and wait at least five minutes for inverters with a capacity of 22 kW or below or at least ten minutes for inverters with a capacity of 30 kW or above Make sure that the LED monitor and charging lamp are 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 qualified persons Take off the watch rings and other metallic objects before starting work Use insulated tools Otherwise an electric shock or injuries could occur
47. r gt Master ByteO Byte 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte COB ID 0x381 MTA MBA No assignment No assignment L byte H byte L byte H byte g g 40 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 ByteO Byte 1 Byte 2 Byte3 Bytes 4 to 7 28 10 00 00 00000000 To send the run command S06 1 FWD 1 and the frequency command S05 50 00 Hz 0x1388 enter the data as shown below 01 00 8 13 00000000 Upon receipt of the above the inverter starts running When it reaches the reference speed it sends the following transmit PDO 21 1 10 88 1 43 00000000 Inverter gt Master 0x381 Receive PDO COB ID Master Inverter 0x401 Transmit PDO COB ID Inverter gt Master 0x381 To stop the inverter send S06 0 FWD 0 from the master 00 00 88 13 00000000 Upon receipt of the above the inverter starts decelerating When it comes to a stop it sends the following transmit PDO 28 1 10 00 00 00000000 Receive PDO COB ID Master Inverter 0x401 Transmit PDO COB ID ENGLISH Inverter gt Master 0x381 To run the inverter in the reverse direction send S06 2 REV 1 from the master 02
48. smission UNSIGNED16 y RW Default 0 Disable 26 Index er Data Identity Object RECORD J l 1018 0 Number of entries Number of sub indexes 1 UNSIGNED8 ce R 0x0000025E Vender ID Fuji Electric Group UNSIGNED32 pf RR 1st Receive PDO Communication Parameter RECORD 10009 0 Number of entries Number of sub indexes 2 UNSIGNEDS R COB ID of RPDO 1 p Choice of transmission type Zu Default 255 2 T t NSIGNED RW ransmission type else UNSIGNED8 y See Tables 7 5 and 7 7 Eu 2nd Receive PDO Communication Parameter RECORD a ae COB ID of RPDO 2 A Choice of transmission type Ne Default 255 2 T t NSIGNED RW Ka Change of state event en o y See Tables 7 5 and 7 7 3rd Receive PDO Communication Parameter RECORD Fa o Number of entries Number of sub indexes 2 UNSIGNED8 R COB ID of RPDO 3 A ea Default 0x400 Node ID ee i Choice of transmission type er Default 255 T t NSIGNED RW ransmission type ee seien UNSIGNED8 V See Tables 7 5 and 7 7 1st Receive PDO Mapping Parameter RECORD a ae wumpa otmapped Number of mapped objects 1 UNSIGNED8 pf RR objects 0x60400010 1 PDO mapping entry1 Controlword UNSIGNED32 2nd Receive PDO Mapping Parameter RECORD Number ot mapped Number of mapped object 2 UNSIGNED3 objects 0x60400010 1 PDO mapping entry1 Controlword UNSIGNED32 0x60420010 PDO mapping entry2 v target velocity UNSIGNED32 3rd Receive PDO Mapping Parameter RECORD Number o
49. ss 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 Access failed Attempted to write when the EEPROM on the communications card is being 0606 0000 used 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 0800 0022 Not allowed to write into an inverter s function code When the inverter is running or writing or when any digital input terminal is ON 23 ENGLISH 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 Communications Card Communications DS 301 Ver 4 02 compliant profile DSP 402 Ver 2 0 Velocity Mode compliant Supports three PDOs each for receive and transmit Chapter 7 No change allowed for assignment of PDOs 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
50. t 31 disables the RPDO i Note The COB ID can be modified only when the PDO is disabled Tip 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 Acyclic Synchronous Reflect to the inverter upon receipt of a single Sync signal after receipt of the PDO Reflect to the inverter immediately after receipt of PDO The communications card does not support CAN Remote Frames 20 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 0x1800 TPDO 1 1 COB ID Specifies the CAN ID value and enables disables the 0x1801 TPDO2 PDO 0x1802 TPDO3 Default TPDO 1 0x180 Node ID TPDO 2 0x280 Node ID TPDO 3 0x380 Node ID 2 Transmission type Specifies the transmission timing See Table 7 7 Default 255 Transmit every time data changes 3 Inhibit time Specifies the minimum interval in units of 0 1 ms for PDO transmission Default 100 10 0 ms 5 Event timer Specifies the cyclic interval ms for PDO transmission which takes effect in
51. t mapped Number of mapped objects 4 UNSIGNED3 objects N ENGLISH 0x5F020110 PDO mapping entry1 Function code assignment 1 for UNSIGNED32 write 0x5F020210 PDO mapping entry2 Function code assignment 2 for UNSIGNED32 write 0x5F020310 PDO mapping entry3 Function code assignment 3 for UNSIGNED32 write 0x5F020410 PDO mapping entry4 Function code assignment 4 for UNSIGNED32 write 27 e Ea ca K E Index Data Eu 1st Transmit PDO Communication Parameter RECORD Kerr 0 Largest sub index Max sub index number 5 UNSIGNED8 R 1800 Transmission type UNSIGNED8 Choice of transmission type 2 Transmission type Default 255 UNSIGNED8 N RW Change of state event See Tables 7 5 and 7 7 2nd Transmit PDO Communication Parameter RECORD a Default 255 Minimum interval for PDO 3 Inhibit time transmission in units of 0 1 ms UNSIGNED16 Default 100 10 0 ms Largest sub index Max sub index number 5 UNSIGNED8 COB ID of TPDO 1 A an Default 0x180 Node ID en Minimum interval for PDO 3 Inhibit time transmission in units of 0 1 ms UNSIGNED16 y RW 2 Default 100 10 0 ms Cyclic interval in units of 1 ms for PDO transmission in the 5 Event timer transmission type 254 or 255 UNSIGNED16 y RW Default 0 Disable Largest sub index Max sub index number 5 UNSIGNED8 COB ID of TPDO 2 eee Default 0x280 Node ID en Choice of transmission type Change of state event 1801 See Tables 7 5 and 7 7
52. te Controlword upper byte vl target velocity lower byte r min vl 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 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 This 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 User defined function code 1 write lower byte data of function code specified by 040 ENGLISH User defined function code 4 write upper byte data of function code specified by 043 B 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 B 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 Note If 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 17 Once you have modified t
53. 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 other CANopen objects Defaults Inverter s function code y98 3 The format of PDO 2 is shown below E Receive PDO Master Inverter 0x301 Controlword vi target velocity L byte H byte L byte H byte E Transmit PDO Inverter gt Master 0x281 Statusword VI control effort L byte H byte Lbyte H byte 1 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 Byte 0 Byte 1 Byte 2 Byte 3 2 To shift the state machine from state 2 to state 3 send the following data in Controlword Bytes O and 1 from the master Receive PDO COB ID Byte 0 Byte 1 Byte 2 Byte 3 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 Byte 0 Byte 1 Byte 2 Byte 3 Inverter gt Master 0x281
54. 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 Tip The parameters in Table 7 6 retain their settings even when the power to the communications card is off Writing 1 to Index 3001 Restore defaults initializes the TPDO to the default value 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 ENGLISH 7 Note Only when the PDO is disabled its COB ID value can be modified Tip The CAN ID value is 11 bits long Bits 11 through 30 are fixed to 0 21 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 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 Specification of 10 transmits a PDO every time the inverter receives a Sync signal 1
55. umer Heartbeat or Node Guarding Occurrence of bus off in CAN LI For details about Consumer Heartbeat or Node Guarding refer to Chapter 12 Heartbeat and Node Guarding LQ 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 Table 13 1 Inverter Reactions to CANopen Network Breaks Defined by Function Codes 027 and 028 0 Invalid Immediately coast to a stop and trip with 5 4to9 1 0 0 to 60 0 s After the time specified by 028 coast to a stop and trip with 4 5 2 0 0 to 60 0s 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 5 3 Invalid Keep the current operation ignoring the If a communications error is 13 to communications error No 5 trip detected the LED indicates 15 the error state 10 Invalid Immediately decelerate to a stop The inverter s function code Issue 75 after stopping F08 specifies the deceleration time 11 0 0 to 60 0 s After the time specified by 028 decelerate to a stop Same as above Issue 4 after stopping 12 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 a ER LITI 44 Chapter 14 LIST OF INVERTER ALARM CODES Ther
56. word lower byte Statusword upper byte VI control effort lower byte r min vl control effort upper byte r min Statusword Status display of DSP 402 state machine vi control effort Output speed monitor r min 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 COB ID 0x380 Node ID User defined function code 1 read lower byte data of function code specified by 048 ENGLISH User defined function code 4 read upper byte data of function code specified by 051 B 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 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 B 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 Tip Objects Index 5E01 Sub 1 to 4 can also assign inverter s function codes The assignment immediately takes effect Note that restarting the inverter or issuing ResetNode

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