IS7 CANOpen User Manual
Contents
1. The CANopen is a Fieldbus using the CAN Controller Area Network specified by the CiA CAN in Automation Association Currently the CANopen is used in machine control medical equipments autos and building automation 1 2 What are the Benefits of Using the CANopen Option Board Inverters can be monitored and controlled by PLC sequence program or any master module Multiple inverters can be connected with a single communication line saving the installation cost Simple and clean wiring makes installation and maintenance works much easier and faster Various peripheral devices of PLC can be used to control inverters Various systems including PCs can be linked for plant automation 1 3 Components The option board is comprised with following components CANopen Communication Card 1 ea CANopen User Manua Fixing Screw M3 1 e Terminal resistance 12 SV iS7 CANopen Manual 2 SV iIS7 CANopen Communication Option 2 1 General Specification of CANopen Communication Card Description Power supply of CANopen Supplied from inverter communication card Network Topology Bus Topology Communication BaudRate 20kbps 50kbps 100kbps 125kbps 250kbps 500kbps 800kbps 1Mkbps Max number of Node 64 ea Including Master With 1 Master connected to network the maximum number of inverter nodes is 63 64 1 Supported Communication Type Terminal Resistance 1d Motion Control device profile Av2. 67F NMT error control 1110 1793 701p 1919 77 Fn ee M Since only CAN2 0A is used the PDO also is available between 1 4 Presently the PDOs used in the CANopen Option are PDO1 CiA402 Profile and PDO3 LS Profile SV iS7 CANopen Manual 4 1 2 SDO communication Regardless of the connection of the CANopen with the master this is the protocol for the client to read or write data on the server SDO Download means the client writing data on the server and the SDO Upload is the client reading data from the server 4 1 3 PDO communication According to the protocol the only the Index and SubIndex Data which are specified to the PDO are transmitted Though the data type of the PDO can be set up by mapping the IS7 prohibits setting by mapping PDO has two types which are Transmit PDO TPDO and Receive PDO RPDO PDO is classified into the Producer and Consumer which are different from the server and client in the SDO communication The Producer can be a client or a server The Producer of the TPDO is a server and the Producer of the RPDO is a client This is because the PDO is classified in the perspective of the server The Consumer is the recipient of the PDO created by Producer 4 1 3 1 Transmission modes Synchronous transmission PDO is transmitted according frame Event driven transmission synchronous time sync object P synchronous PDO Nevent driven PDO Figure 16 Synchronous and event driven t
3. Ramp Drive up to the target frequency Enter zero in the target frequency 1 Enter setting value in the target frequency 8 Halt Not used 6 Reference Ramp 22 SV iS7 CANopen Manual Run ramp function generator Bit 5 Bit 4 l Ramp Ramp output value 0 function D R generator 1 Velocity demand x Special 0 function generator 6 1 2 3 Statusword Object 0x6041 Index 0x6041 The bit composition below presents the command by bits of Control Word efulstatntwotetstrtststatstatito da as ve t ce so nso f fault Trip ve voltage enabled qs quick stop sod switch on disabled w warning rm remote tr target reached ila internal limit active nu not used The bit values according to the state of FAS 23 SV iS7 CANopen Manual 6 1 2 4 vi target velocity Object 0x6042 Index 0x6042 Function Target velocity Unit rom Basic format 0 Setting range 3 value represent rmal run the range varies by the parameter setting Attribute Category Conditional mandatory if v is supported Entry description Attribute Access W PDO Mapping See CiA402 3 Value Range Integer16 Default Value 0000 6 1 2 5 vi velocity demand Object 0x6043 Index 0x6042 Function Current target velocity Unit rom Basic format 0 24 6 1 2 6 Setting range 30000 30000 SV iS7 CANopen Manual value
4. The table below presents the RPDO3 Map Sub Parameter Parameter Setting value The name of parameter index Index Sub Index 0x30100010 0x3010 Para Control 1 Data Value 0x02 oxao1t0010 oxgorn Para Control 2 Data Value 0x03 ox30120010 ox3012_ Para Control 3 Data Value oxoa 0x30130010 ox3013 S 2 Para Control 4 Data Value Para Control x Data Value is the value to be written in the parameter of the communication address set up in COM 51 54 6 2 3 TPDO The TPDO of the CiA 402 Profile are as follows Number of RPDO Support Mandatory Controls PDS FSA and Target velocity vl Optional Controls PDS FSA and Target velocity vl and target torque tq Optional Manufacture specification The settings are The index of the act of the TPDO3 is 0x1402 COB ID Unique CAN ID value of PDO Access R W 0x0180 Node ID TPDO1 0x0380 Node ID TPDO3 Function Transmission Type 0x02 RW 255 Function Inhibit Time RW Initial value Function Event Timer Access RW Initial value 32 SV iS7 CANopen Manual Trans Mode according to the Transmission Type value 0 at the occurrence of SYNC the CANopen Option creates TPDO which is transmitted only when the data has been changed from the previous value 1 240 receiving SYNC for preset frequency the TPDO is transmitted once 252 at every occurrence of SYNC data is updated to PDO and TPDO is transmitted when the master transmit
5. control area These are the parameters in the memory control common area between the communication address Oh3E0 Oh3FF In the CANopen Index is 0x4002 and Sub Index is the communication address deducted with Oh3E0 and added with 1 E g To read the value in the communication address Oh03E1 the data is in Index 0x4002 and Sub Index 0x02 29 SV iS7 CANopen Manual Note Before setting the memory control area value check that the preset value is zero If the previous value is not zero then set the value to zero and then reset it to the desired value for appropriate operation of the parameter function If the preset value was not zero and the new setting value also is not zero the parameter does not function E g In the OHO3EO Index 0x4002 Sublndex 0x01 parameter setting if the previous value is 1 Yes first change it to O No then set it to 1 Yes to save the inverter parameter settings 6 1 3 2 SDO address in the keypad parameter area The Keypad parameters are indexed by group The Sublndex is the code number The table below presents the index values by Group E g To obtain the value of the 11 Monitor mA which is the Code 20 parameter in Group read the values in the Index 0x4014 and Sublndex 0x14 6 2 PDO Of the CiA 402 Drive and Motion Control implemented for the PDO for the frequency converter 6 2 1 RPDO The RPDO of the CiA 402 Profile are as follows Number of RPDO Suppor Mandator Controls PDS FS
6. stop deceleration As shown in the figure the deceleration ti rmined using the Delta speed and Delta time For the safe inver d Ita _speed was fixed to Max speed and the setting parameter was r Category Conditional Mandatory of v is supported ib Entry description PDO Mapping See CiA402 3 Default Value Manufacturer specific 28 SV iS7 CANopen Manual Object description vi velocity quick stop Data Type vi velocity acceleration decelaration Conditional Mandatory of v is supported Entry description swm a o Entry Category Mandatory Access PDO Mapping see CiA4d02 3 Default Value Manufacturer specific 6 1 3 SDO for IS7 6 1 3 1 SDO address Inverter monitoring are These are the parameter In the CANopen the Index is 0x4000 with 0h300 and added with 1 between the communication address 0h300 0h37F and the Sub Index is the value of the communication address deducted E g To read the value in the communication address 0h0310 the data is in Index 0x4000 and Sub Index 0x11 Inverter control area These are the parameters in the control only common area between the communication address 0h380 Oh3DF In the CANopen Index is 0x4001 and Sub Index is the last 2 digits of the communication address added with 1 E g To read the value in the communication address 0h0389 the data is in Index 0x4001 and Sub Index OxOA Inverter memory
7. time intervals set up with the Producer Therefore in general the Master is the Consumer SV iS7 CANopen Manual 4 4 CANopen EDS File This file contains the parameter data of the inverter which is used to control the parameters of the SV iS7 via the CANopen Manager software program To do this you need to install the EDS file for the iS7 provided by the LS Industrial System in your PC The EDS file can be downloaded from the Webpage of LS Industrial System www Isis biz EDS file name LSIS_IS7_CANOPENxx EDS LSIS_IS7_CANOPENxx EDS should be copied into the folder where the EDS file is stored in the Master Configuration program SV iS7 CANopen Manual 5 Detailed Specification of Communication Profile Specific Objects 5 1 Device Type The SDO indicates the device type of the Option 0x1000 Data type UNSIGNED32 Sub index 0x00 RO Read Only 000010192 5 2 Error Register The information on the error of the Option 0x100 UNSIGNED8 0x00 Access Bi e renam manufacturer specific 5 3 Pre defined Error Field The information on the current Emergency Data type UNSIGNED32 Object code Object code Number of the occurred errors RW Read Wt Number of the current emergency errors Data Enter 0 to rest all the emergencies SV iS7 CANopen Manual Information on the last emergency acess RO Dat The value of Error code Refer to Error code table of ata 6 1 2 1 Informatio
8. A and Target velocity vl y 2 Optional Controls PDS FSA and Target velocity vl and target torque tq 3 a a Optional Manufacture Specification IS7 CANopen supports RPDO1 and RPDOS3 only 30 SV iS7 CANopen Manual The settings are for the receiving methods of the RPDOs The index of the communication parameter object of the RPDO1 is 0x1400 The index of the communication parameter object of the RPDO3 is 0x1402 The Sub Index parameters in the object are the same Sub Property Description Index COB ID The unique CAN ID value of PDO 0x01 RW Initial value 0x0200 Node ID RPDO1 0x0400 Node ID RPDO3 Transmission Type 0x02 RW Initial value 255 Trans Mode according to the Transmission Type value 0 at the occurrence of SYNC the master creates RPDO which is transmitted only when the data has been changed from the previous value 1 240 receiving SYNC for preset frequency 252 not supported 255 transmits 6 2 2 RPDO mapping Since IS7 CANopen Map is fixed user cannot edit the map 6 2 2 1 RPDO1 mapping The RPDO set up in the CiA 402 Profile Index 0x1600 The table below presents the RPDO1 Map Sub l Parameter Parameter Setting value The name of parameter index Index Sub Index 0x60400010 ox6o40 Control word 0x60420010 ox6o42 vitarget velocity 6 2 2 2 RPDO3 mapping The RPDO set up in the LS Drive Profile Index 0x1602 31 SV iS7 CANopen Manual
9. Before using the product thank you for purchasing SV iS7 CANopen option board SAFETY PRECAUTIONS Always follow safety instructions to prevent accidents and potential hazards from occurring Safety precautions are classified into WARNING and CAUTION and their meanings are as follows Improper operation may result in serious personal injury or WARNING jean Improper operation may result in slight to medium personal A N CAUTION injury or property damage The indicated illustrations on the product and in the manual have the following meanings age and follow the instructions carefully ause danger of an electric shock may be present Keep operating instructions handy for quick reference Read the operating instructions carefully to fully understand the functions of the SV iIP5A series and to use it properly CAUTION Be cautious when handling the CMOS components of the Option Board Static may lead to malfunctioning of the product Turn off the inverter power when changing the communication cable Otherwise you may damage the board or a communication error may occur Make sure to insert the Option Board connector to the inverter precisely Otherwise you may damage the board or a communication error may occur Check the parameter unit before setting up the parameter Otherwise a communication error may occur SV iS7 CANopen Manual 1 Introduction 1 1 What is CANopen
10. CANopen inverter DRV 06 Set up to receive the operating Gnd Source FieldBus EX RX 4 command from the Option DRV 07 Set up to receive the frequency Freq Source FieldBus Keypad 1 command from the Option DRV 08 GRUP tO TECENE IME JAIR Trq Source FieldBus Keypad 1 command from the Option COM 06 Option board version FBus S W Ver PD amp COM 07 Station No setting FBus ID 1 127 1 COM 09 LED status of CANopen FBus LED O X XX Z TI OO E A7 Q O O gt Z O O D 02 O D D O O ep D D 2i O gt Z O Keypad Addr COM 31 0x0000 0xFFFF OxO00A_ 0xXXXX Hex Master Keypad Addr of the TPDO Data to be read from CANopen Para Status 2 0x0000 0xFFFF 0x000D Master Keypad Addr of the TPDO Data to be read from CANopen Para Status 3 0x0000 0xFFFF 0x000F Master Keypad Addr of the TPDO Data to be read from CANopen Para Status 4 0x0000 0xFFFF 0x0000 Master Keypad Addr of the RPDO Data to be read from CANopen Para Control 1 0x0000 0xFFFF Ox0005 Master Keypad Addr of the RPDO Data to be read from CANopen Para Control 2 OxOOO0 OxFFFF Ox0006 Master 34 COM 32 OxXXXX Hex COM 33 OxXXXX Hex COM 34 OxXXXX Hex COM 51 OxXXXX Hex COM 52 OxXXXX Hex SV iS7 CANopen Manual aoe Keypad Factory A Keypad Addr of the RPDO Data COM 53 to be read from CANopen Para Control 3 0x0000 0
11. Parameter Setting for the Periodic Communication 7 4 1 COM 31 34 Para Status This can be set up only when the LS Device Profile is selected in the COM11 4 parameter addresses are designated and the parameter values are transmitted to the Master through TPDOB3 If CIA 402 Velocity Mode is selected this status is hidden and setting is prohibited 36 SV iS7 CANopen Manual 7 4 2 COM 51 54 Para Control This can be set up only when the LS Device Profile is selected in the COM11 4 parameter addresses are designated and the parameter values transmitted to the Master through RPDO3 is used If CiA 402 Velocity Mode is selected this status is hidden and setting is prohibited 7 5 Parameter setting for the Lost Command According to the decision criteria of the Lost Command of the IS7 CANopen it judges that the Master and Slave are connected when the NMT status of the CANopen is Operation and it does not generate Lost Command That is when the NMT State different from Operation is maintained for longer than the time set up in the PR 13 the inverter turns to Lost Command state However the Lost Command can be generated only when one or more of the frequency command or operation command is set to Fieldbus 7 5 1 PRT 12 Lost Cmd Mode None no action is taken even when the Inverter turns to Lost Command state Free Run in Lost Command state the motor turns to Free Run stop and Lost Command Trip is triggered Dec in Lost Command state the m
12. ailable PDO Vender Name PDO Mapping N A 2 2 External Appearance of Communication Card BUS LED Green NODE LED Green Installation ERR LED Red CPU LED Green Precautions for Installation SV iS7 CANopen Manual Do not install or remove the CANopen communication card while the power supply of the equipment is ON Otherwise both the CANopen communication card and the inverter may be damaged Install or remove the CANopen communication card when the condenser of the inverter has been fully discharged 3 SV iS7 CANopen Manual Do not change the connection of communication signal wire while the inverter power is on Make sure that the inverter terminal and the connector of the option board are in agreement When building a network make sure to connect the terminal resistance to the CANopen communication card at the end position The terminating resistor a 120 ohm 1 2W resistor should connect the CAN_L and CAN_H 2 3 Maximum Communication Range according to Baud Rate In a network system the total length of the network line is determined by the baud rate The performance of the communication farther than this distance is not guaranteed Baud Rate Bus Length 1 Mbit 800 Kbit s 50 m 500 Kbit s 250 Kbit s 250 m 125 Kbit s SV iS7 CANopen Manual 3 Diagnosis of the Option Statuses and LED Definitio
13. asthatof Setting the CPU LED CANopen Not Kept OFF Initial CANopen Kept OFF NODE Stopped Blinks synchronously with the CPU LED CANopen Pre Operational CANopen Operational Run COMM Update to apply the CANopen parameter set up with The parameters for the keyboard To maintain the CANopen entered using CANopen parameters set up with keypad differ from those the previous values or turn off set up in the CANopen and on the inverter power supply Though the ERR LED may blink the CANopen is driven with the option card previous set up values If the NODE LED has not been turned on yet after the CANopen Option has been Wait until lit If not set the COMM energized the CANopen Update of the COM 94 to Yes has not been initialized ODE LED has lit at least by once CANopen Master has S ae issued a Stopped command CANopen communication available with the Master but the connection with the mene Master has not been made yet Master has been connected and Normal status communicating with the CANopen normally Blinks synchronously with the CPU LED Blinks at an interval twice as long as that of the CPU LED Blinks at an interval twice as long as that the CPU L Kept OFF CANopen Network Bus No Error CANopen Profile Setting Error PDO Communication Not Connected PDO Communication No problem in the CANopen Network The profile set up o
14. caused by abnormal voltage and peripheral devices malfunction failure Damage was caused by natural disasters earthquake fire flooding lightning and etc When LS nameplate is not attached 38
15. ed this SDO is used to identify the type of the trip The table below presents the Error code No for response to the inverter trip 20 6 1 2 2 Fault Code Number 0x4310 0x5000 0x5450 0x6300 0x7001 0x7011 0x7012 0x7013 0x7021 0x7022 0x7120 0x7310 0x8401 0x8402 0x9001 0x9002 OxFFOS OxFFO6 OxFFO OxFFOA OxFFOB SV iS7 CANopen Manual Control word Object 0x6040 Index 0x6040 The Bit composition below presents the bit command of the Control Word as Jaa fas h2 lo fo fe z Je s fa s 2 h o mu nu nu nu m r m n e rr ur fer eo gs ev so so Switch on ev Enable Voltage qs Quick stop er Enable ramp eo Enable operation 21 SV iS7 CANopen Manual ur Unlock ramp rr Reference ramp fr Fault reset h halt r reserved m nu Not used The bits between 4bit and 7bit are command bits which run in Operation Mode The table below presents the commanding method in the FSA state described in 5 1 1 Bits of the contro word Command Shutdown Switch on Switch on enable J A operation i NOTE Quick stop 7 9 10 12 Disable operatio Enable operati Fault reset The figure in the Transitions is the numbers of the inverter action table described in 5 1 1 Followings are the command bits used in Enable Operation Maintain previous operational state Operate inverter by command bit Holds output frequency 4 Enable Ramp 5 Unlock
16. f guarding error Life guarding evant g g ng The NMT status of the Slave is indicated by the value of S 4 Stopped 5 Operational 127 Pre operational SV iS7 CANopen Manual The t of the top bit is the Toggle Bit which toggles at every response of the Slave The Master sends the RTR Frame at every preset Node guard time If the Master fails to send RTR Frame until the expiration of the Node life time or the Slave fails to response to the Mater until the expiration of the Node life time a Guard Error is generated Then the Guard Error Event set up in each Master and Slave is executed In the case of iS7 the CANopen NMT State is changed to Pre operational 4 3 2 Protocol heartbeat If the Error Control Protocol is set to Heartbeat the MNT State information of itself is sent at the time intervals set up in the Heartbeat Producer If the Heartbeat Producer fails to send the Heartbeat within the preset time the Heartbeat consumer generates a Heartbeat event Heartbeat Heartbeat producer consumers reques CAN ID 1792 Node ID 3 Indication S AL pE indication 5 request indication m indication i indication 3 Indication n Y Heartbeat event The value of S represents the MNT state of the Slave 4 Stopped 5 Operational 127 Pre operational The upper r is the reservation bit which is always zero The IS7 CANopen informs the Consumer of the current MNT State at the
17. n Ready to switch on Ready to change to switch on state anytime Switch on Ready for Operation enable RN command can be issued at anytime Operation enabled Motor is running Quick stop active Motor is to be or has been stopped The table below presents the action of the inverter according to status change Transition Conduct self diagnosis and initialize parameters Automatic change CANopen communication enabled Change to Operation Mode On receiving Switch on command None On receiving Enable Operation command 19 1 Automatic change On receiving Switch on command SV iS7 CANopen Manual he command to maintain current inverter On receiving Disable Operation command status is not accepted l e stop command is not accepted If motor has been running conduct Free On receiving Shut Down command run stop T On receiving Disable voltage command 8 On receiving Shut Down command Conduct Free run stop On receiving Disable voltage command Conduct Free run stop On receiving Disable voltage command or Conduct Free run stop Quick Stop command Reduce speed at the reducing time setup On receiving Quick Stop command in the Quick Stop a2 bon receiving Disable voltage command Conduct Free run stop Conduct Trip sequence Conduct Trip sequence _ Change to Switch on disable state mand Motor runs again 6 1 2 CiA 402 SDO 6 1 2 1 Error codes Object 0x603F Index 0x603F When the inverter is tripp
18. n 3 1 Definition of the LED Signal The caer communication na has 4 LEDs EE When the Option card is energized and the CPU is in normal operation state this LED is turned on and off at 1 second cycle on for 500 ms and off for 500 ms oa This LED turns on if the Option parameters have been set up inappropriately or the Internal CAN communication between the inverter and the CANopen is lost NODE This LED turns on according to the status of the current NMT Network Management aie This LED turns on or off according to the baud rate or profile set up or communication Status 3 2 Diagnosis of Option by LED Signal LED LED Signal Option Status Possible Cause ower supply Check inverter power supply Kept OFF 3 5V to the CANopen Check power supply to the munication card CANopen communication card Blink at 1s ower supplied Normal status intervals Kept OFF Normal Option setting Normal status Blinks Internal CAN Data communication Turn the inverter power off synchronously with the CPU LED Blinks communication between the inverter and reinstall the Option card and turn Error Option is lost the power on again Enter a figure between 1 127 not asynchronously FBus ID 0 is entered as the ID of with the CPU Setting Error the COM 7 FBus LED zero into the FBus ID and execute COM 94 Comm Update SV iS7 CANopen Manual Blinks at an interval twice as Opt Parameter ERR long
19. n on the last emergency access RO T The value of Error code Refer to Error code table of ata 6 1 2 1 5 4 COB ID SYNC Message The SDO for reading and writing the information on the he device that sends the SYNC Message The Bit format is as follows 31 30 29 ee oe 11 bit CAN ID AN ID MSB LSB The iS7 CANopen Option only receives and does not generate SYNC and supports Standard ID only Therefore both the gen and frame must be 0 0x1005 Set up the COB ID of SYNC 5 5 Manufacturer Device Name Name information of the CANopen Option 0x1008 Date tpn VISIBLE_STRING String CONST Read only data Unchangeable IS7 CANopen 16 SV iS7 CANopen Manual 5 6 Manufacturer Hardware Version Version data of the hardware of the Option 0x1009 Stans VISIBLE_STRING String CONST Read only data Unchangeable T CANopen 1 00 ata May differ by the hardware version of the Option 5 7 Manufacturer Software Version Version data of the software of the Option 0x100A DAADE VISIBLE_STRING String CONST Read only data Unchangeable Version 1 00 May differ by the software version of the 5 8 Guard Time This SDO sets the guard ti en using the Node ng Protocol of the Error Control Protocol UNSIGNED16 RW Access RW Guard Time unit msec 5 9 Life Time Factor This SDO sets the life time factor when using the Node Guarding Protocol of the Error Control Prot
20. n the CANopen Master differs from that set up in the Option CANopen s communication speed is different Master has not been connected for communication yet Network line has not k due to problem the network SV iS7 CANopen Manual Normal status Check that the PDOs set up in the Master and Option are identical Check that the baud rate of the CANopen set up in the Master and that in the Option are identical Check that the Master has started communication Check that Network Line has been connected Check the connection with the Network Line Check tightness of bolts and nuts Turn the power on and off SV iS7 CANopen Manual 4 Data Communication Protocol of the CANopen 4 1 Communication Protocol of the CANopen 4 1 1 CAN ID Following is the description on the ID part of the CAN frame In the IS7 CANopen only CAN2 0A Standard is supported As the CAN2 0A is implemented the ID comprises 11Bits The figure below shows the configuration of the ID 10 9 8 7 6 5 4 3 2 1 0 CAN ID MSB LSB The table below presents the Broadcast Function code The table below p code Resulting CAN IDs PDO2 tx PDO2 rx 769 301n 895 37F n PDO3 tx 897 381n 1023 3FFp PDO3 rx 1025 401n 1151 47Fn PDO4 tx 1153 481n 1279 4FFn EDOM 7 SDO tx 1011 1409 581 1535 5FFn SDO rx 1100 1537 601 1663
21. ocol 0x100D Data type UNSIGNED8 a This factor is for the calculation of the Node Life Time ata and is zero when not using the Node Guarding Protocol SV iS7 CANopen Manual 5 10 Store Parameters This SDO saves keypad data changed by communication when power turns to off Sub Index 0x01 0x02 and 0x03 are not supported 0x04 only is supported a ne Ox0000 indicates saving is not available due to inverter drive etc Signature MSB LSB 5 11 COB ID EMCY This SDO sets the CAN ID Emergency Fram IS7 CANopen setting is prohibited only reading is allowed Index 0x1014 Data type UNSIGNED32 0x00 S NODEID 0x80 Data Node ID is the FBus ID currently set up in the Option 5 12 Producer Heartbeat Time This SDO indicates the time at which the Heartbeat is transmitted 0x1017 Data type UNSIGNED16 0x00 Set up time in msec units SV iS7 CANopen Manual 6 Profile 6 1 CiA 402 Drive and Motion Control Device Profile Velocity Mode only is supported 6 1 1 Finite state automation This is the state of the Option used at CiA 402 Start 0 Not ready to switch on switch on disabled a Ready to switch on 14 Fault reaction active Power off or reset Not ready to Switch On The hardware and Stack of CANopen are initialized in this state Quick s active Switch on disable Current Option state is not available for Switch O
22. otor turns to trip deceleration stop and Lost Command Trip is triggered Hold Input the moto Hold Output the mo Lost Preset the m Ins at the speed the PRT 14 and Lost Command Warning is issued 7 5 2 PRT 13 Lost Cm While the CANopen is in communication if the MNT State different from Operation is maintained for the time longer than the time set up in the PRT 13 the Inverter turns to Lost Command state 7 5 3 PRT 14 Lost Preset F If Lost Preset is set up in the Lost Cmd Mode of the PRT 12 and if the Inverter turns to Lost command state the inverter drives the motor at the speed set up in the PRT 14 37 SV iS7 CANopen Manual Warranty Product LSIS Communication Option Installation Model SV iS7 CANopen Warranty Communication Card Period ee Sales Offices This product has b f the strict QC control and inspection of LS Industrial Systems et nths after installation or 18 months after manufactured when the installation date unidentified However the guarantee term may vary on the sales term n warranty service information gt If the defective part has been identified under normal and proper use within the guarantee term contact your local authorized LS distributor or LS service center Out of warranty service information gt The guarantee will not apply in the following cases gt Troubles are attributable to a user s intentional negligence or carelessness gt Damage was
23. ransmission 4 1 3 2 Triggering modes There are 3 trigger modes available for the generation of the event for PDO transmission Event and timer driven When the preset event time is elapsed the PDO frame is transmitted automatically Remotely requested PDO frame is transmitted when the RTR frame requesting for PDO is received Synchronously triggered PDO frame is transmitted by the preset number of the SYNC frames 9 SV iS7 CANopen Manual 4 2 NMT Network Management state machine This command is used by the master to control the slave devices in the network The figure below shows the NMT State Diagram of a CANopen device Power on or hardware reset initialisation 2 Pre operational The above table presents the conditions for status transfer The NMT Service means those converted by the NMT command frame SV iS7 CANopen Manual 4 2 1 NMT state initialization The Initialization also is divided into 3 modes 1 15 initialisation Reset application Reset communication 12 13 14 15 iti NMT sub state reset application is entered nished NMT sub state reset communication Initializing the beginning status of the Option which is the initialization stage after Power On or H W Reset Reset Application NMT requested Node Reset The initialization is conducted according to the profile Reset Communication NMT requested Communication Reset and notice
24. represents inverse run represents normal run the range varies by the parameter setting Object description a vi velocity demand Data Type Type Integer16 Category Conditional mandatory if v is supported Entry description ecess SSS PDO Mapping See CiIA402 3 Value Range Integer16 Default Value vi velocity actu j 6044 Index 0x6044 Function Curr Unit rom Basic format 0 Setting range 30000 30000 value represents inverse run represents normal run the range varies by the parameter setting Object description vi velocity actual value Data Type Integer16 Category Conditional mandatory if v is supported Entry description mes ooo Deoutvawe No 25 SV iS7 CANopen Manual 6 1 2 7 vi velocity min max amount Object 0x6046 This object is supported in the CiA402 Profile but not implemented in the IS7 because it may make users confused according to the function of the iS7 The parameters of the same functionalities are ADV 24 ADV 25 and ADV26 6 1 2 8 vi velocity acceleration Object 0x6048 Index 0x6050 Function Object which determines an acceleration time Unit sec Basic format 0 0 Setting range 0 0 600 0 Setting range differs from parameter setting of inverter delta speed vi velocity acceleration delta time velocity delta speed delta time time characteristic of the velocity acceleration As shown in
25. s a remote frame requesting TPDO 253 receiving the remote frame from the master requesting the TPDO data is updated and TPDO is transmitted 254 Manufacturer defined in the IS7 CANopen TPDO is transmitted at every Event Time 255 transmits TPDO by Event Trigger If the data is not changes within the Event Time TPDO is transmitted It the data changes within the Event Time the TPDO is transmitted after Inhibit Time TPDO is not transmitted until the Inhibit Time has been passed 6 2 4 TPDO mapping The map of the IS7 CANopen is fixed therefore user cannot edit the map 6 2 4 1 TPDO1 mapping The PDO set up in the CiA 4 Index 0x1A00 The table below pr index 6 2 4 2 TPDO3 mapping The PDO set up in the LS Drive Profile Index 0x1A02 The table below presents the PDO3 Map Sub Setting Parameter Parameter Sub Index The name of parameter index value Index 0x30000010 0x3000 Para Status 1 Data Value Para Status 2 Data Value arameter Sub Index The name of parameter Statuswore Log vl velocity actual value ox30010010 ox3001 ooo 0x30020010 0x3002 2 Para Status 3 Data Value 0x30030010 0x3003 Para Status 4 Data Value Para Status x Data Value is to read the parameter of the communication address set up by COM 31 34 33 SV iS7 CANopen Manual 7 Inverter Parameter 7 1 Related Parameter List Oe Keypad Factory Type of the option board in the Option 1 Type
26. the Master of boot up via NMT frame This state is transferred to Pre Operational automatically 4 2 2 NMT state pre operational Before PDO communication the PDO information is sent by the Master to the Slave via SDO or necessary data is read In this state the PDO communication is being prepared via SDO 4 2 3 NMT state operational PDO communication is started by changing all the devices to Operation via the NMT frame Of course SDO communication is enabled too 4 2 4 NMT state stopped SDO and PDO communications are stopped due to a problem in the network However the Node Guarding and Heartbeat communication are enabled 11 SV iS7 CANopen Manual 4 2 5 The frames enabling communication by NMT status Node control and error control O mark indicates communication enabled 4 3 Error Control Protocols These protocols are used to check normal operation of the device Two methods are available in the CANopen Protocol node guarding and Protocol heartbeat 4 3 1 Protocol node guarding Master inquires the Slave f Frame and the Slave returns the current NMT State to the Master NMT Master Node ID NMT Slave reques MANS ii i AA Fa ornida sasdesenceeece ach indication fr J E response E foe By contirmaton Y E OW _reques E ee N j EEES aa A idniineeavaammenice indicathon 2 response confirmation g WY incicatan indication Node guarding event i
27. the f determined using the Delta speed and Delta time For the safety of the inverter the delta_speed was fixed to Max Speed and the setting parameter was removed Object description Name vi velocity acceleration Object Code Record Conditional Mandatory of v is supported Entry description 26 SV iS7 CANopen Manual 6 1 2 9 W velocity deceleration removed vi velocity deceleration Object 0x6049 Index 0x6049 Function Object which determines a deceleration time Unit sec Basic format 0 0 delta speed delia time velocity delta_speed delta_time time Transfer characteristic of the velocity deceleration As shown in the figu For the safety of t Attribute vi velocity acceleration decelaration Conditional Mandatory of v is supported Entry description TW Entry Category Mandatory Aces OSC PDO Mapping See CiA402 3 Default Value Manufacturer specific 27 Setting range 0 0 600 0 Setting range differs from parameter setting of inverter SV iS7 CANopen Manual 6 1 2 10 vi velocity Quick Stop Object 0x604A Index Ox604A Function Object which determines Quick Stop time Unit sec Basic format 0 0 Setting range 0 0 600 0 Setting range differs from parameter setting of inverter delta speed velocity quick stop delta time city velo delta speed delta_time time Transfer characteristic of the quick
28. xFFFF 0x0000 0xXXXX Hex Master Keypad Addr of the RPDO Data Master No COM 94 Reflect parameter on Option Comm Update re es None Free Run Set up inverter operation in 5 u ec PRT 12 the event of Lost Command Lost Cmd Mode Hold Input Hold Output Lost Preset Set up the S Preset 7 2 Description on the Basic Field Bus Parameters 7 2 1 COM 07 FBus ID The allowable setting range in the inverter is 0 127 However 0 is not used as a station No in CANopen If set to o the ERR LED will blink in the CANopen Option See Section 3 2 7 2 2 COM 09 FBus LED These parameters control the LEDs on the CANopen board OBit CPU LED 1Bit ERR LED 2Bit NODE LED 3Bit BUS LED 35 SV iS7 CANopen Manual The example of COM 09 LED status BUS LED Green NODE LED Green ERR LED Red CPU LED Green 7 2 3 COM 94 Comm Update Press Yes to reflect the values set up with keypad on the CANopen Option 7 3 Description on the Opt Parameter 7 3 1 COM 10 Opt Parameter These parameters control the communication speed of the CANopen Setting range 0 7 0 1Mbps 1 800Kbps 500Kbps 250Kbps 125Kbps 100Kbps 50Kbps 20Kbps Default value is 0 1Mbps N OORA OD 7 3 2 COM 11 Opt Parameter2 These parameters select Profile Setting range 0 1 0 CiA 402 Drive and Motion Control Velocity Mode Frequency Converter PDO1 1 LS Device Profile PDO3 Default value is 0 CiA 402 Profile 7 4
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