TOSVERT VF-S15 CANopen® 通信機能説明書
Contents
1. Node ID Heartbeat Node ID Heartbeat Node NMT dec NMT 6 4 1 Heartbeat Consumer Object 1016 Node ID2. OFF v EEPROM 1 0 10 TOSHIBA E6581910 4 E TEE TTE E EEEE E RE EN REE EE CN EE ER RE EN EEEL EERE LEELA ERTER 4 2 me SC AA na Ra a Ne MAP 2 NYA 2 4 2 1 EN A NE NRA OE AE RN 4 2 1 1 CAN LED PAM SOEUR RR ie S ORDEN SERI n RUSTICA CUN Nat AES ye ETE 5 Bx hide ee re EE uasa esu qan 6 23 ER ACT 6 24 eee e RR REOR ee ee ee EE REOR eee ee eee 7 25 303 1 EE 8 26 PE g see EC yy aes ede Siete ra SG Ss TBE NET RE CEI qe V ET a brake ane up t ale ee ERED Cyr gar eek bye 9
3. d 23 CANopen CF B d 6 CANopen 5 M ANTE RA RS485 RS485 5 1 Velocity mode Velocity mode 8 vl target velocity 6042 Statusword 6041 bit11 internal limit active Velocity vl target min max limit amount 6046 function vl demand vl velocity actual Velocity Ramp value 6043 Control _value 6044 function function vl_target_acceleration 6048 vl_target_deceleration 6049 rud A
4. V Power on Initializing 6 v 4 Pre Operational zx 2 Service COB ID DLC Data0 Data1 Data2 7 1 Start Remote Node 0x000 0 2 0x01 Node ID 0x00 0x00 2 Stop Remote Node 0x000 0 2 0x02 Node ID 0x00 0x00 3 Enter Pre Operational State 0x000 0 2 0x80 Node ID 0x00 0x00 4 Reset Node 0x000 0 2 0x81 Node ID 0x00 0x00 5 Reset Communication 0x000 0 2 0x82 Node ID 0x00 0x00 Device initialization finished 6 enter Pre Operational state 0x700 0 1 0x00 0x00 0x00 automatically Node ID send Boot up message 6 2 SDO SDO Service Data Object CANopen Communication Profile Pre Operational SDO Communication Manufacturer Standard Device NMT State Profile Specific Profile Profile PDO 1000 1FFF 2000 5FFF 6000 9FFF Stopped Initializing Pre Operational Read Write Read Write 1 Read Write Ope
5. L IBBD L G3 Heartbeat Node Guarding TOSHIBA E6581910 Node Guarding COB ID RTR DLC Data0 Data 1 Data2 Data3 Data4 Data5 Data6 Data7 0x700 1 0 Node ID Node Guarding COB ID RTR DLC Data0 Data 1 Data2 Data3 Data4 Data5 Data6 Data7 0x700 0 1 bit7 toggle Node ID bit6 0 State Data0 bit7 bit6 0 0 Initializing 1 Disconnected 2 Connecting toggle 3 Preparing 4 Stooped 5 Operational 127 Pre operational 6 5 NMT Boot up ON NMT Bootup NMT Boot up NMT Boot up NMT Master NMT Slave COB ID DLC Data0 Data 1 Data2 Data3 Data4 Data5 Data6 Data7 0x700 Node p 1 0 TOSHIBA
6. hz vl target velocity min 5 1 6 Object 6044h vl velocity actual value vl target velocity min TOSHIBA E6581910 5 1 7 Object 6046h vl velocity min max amount Object 6042 min yvl_velocity_ max vl_velocity_min CULO CLL
7. MOFF Switch on 3 Switch on disable TOSHIBA E6581910 Transition events and action CiA DS402 2 DSP V3 0 Table 26 Transition Event s Action s 0 Automatic transition after power on or reset Drive device self test and or self application initialisation shall be performed 1 Automatic transition Communication shall be activated Shutdown command from control device or local 2 signal None 3 Switch on command received from control device The high level power shall be switched on or local signal if possible 4 Enable operation command received from control The drive function shall be enabled and all device or local signal internal set points cleared 5 Disable operation command ME The drive function shall be disabled control device or local signal 6 Shutdown command received from control device The high level power shall be switched off or local signal if possible 7 Quick stop or disable voltage command from N one control device or local signal Shutdown command from control device or local The drive function shall be disabled and 8 i the high level power shall be switched off signal if possible
8. 25 B Cagd 1 CANopen FH g 0 CANopen PE 4 26 B Cigi lp 1 1 127 Board rate CAN 0 20k 4 500k 2 L mF 1 50k 5 800k 2 125k 6 1M 125kbps 3 250k ras PDO1 Receive COB ID entry 1400 subidx 01 NES Highwod 0x00000200 COB ID L Low word COB ID 0x00000200 Node ID L RPDO transmission type 0x01 1400 subidx02 Synchronous Transmit COB ID 1800 subidx 01 Lor CRISIS High word j0x00000180 COB ID L 115 Low word COB ID 0x00000180 Node ID r 115 TPDO Transition type 0x01 1800 subidx02 Synchronous 311600 subidx 00 Receive PDO1 assignment ruarn L 150 PDO1 Number of objects 0x02 Number of objects assigned 1600 subidx 01 Command Index No L 15 1 command 1 M 0x6040 Controlword 1600 subidx 02 Command Index No L 15 Command Z 0 6042 9 6042 vl target velocity z 1A00 subidx 00 Transmit PDO1 race j One assignment Number of objects assigned ies 1A00 subidx 01 Monitor Index No L 155 Monitor 0 6041 0 6041 vl Statusword MEM 1A0
9. 1016 Max fC Bits 00 15 Max duration of Consumer UR cet des DISAIS Ox0000 Heartbeat unit 1 ms carpea XE Heartbeat Producer 0 F 58 Producer Heartbeat Time 0 1017 1ms F111 ppot Receive COB ID entry 311400 subidx 01 w _High word 0x00000200 COB ID tiie Low word COB ID 0x00000200 Node ID 7 7 RPDO transmission type OxOFF 1400 subidx 02 Asynchronous rd Transmit COB ID 1800 subidx 01 Highword 0 00000180 COB ID L115 Low word COB ID 0x00000180 Node ID 115 TPDO Transition type OxOFF 1800 subidx 02 Asynchronous Ciil Transmit Inhibit time 100 1800 subidx O3 unit 100us min 2ms Transmit Reserved 1800 subidx 04 9 Transmit Event timer 0 1600 subidx 05 0 Disable unit 1ms rS PDO2 Receive COB ID entry 1401 subidx 01 s High word 0x80000300 COB ID L iff Low word COB ID 0x00000300 Node ID Cled RPDO transmission type OxOFF 1401 subidx 02 Asynchronous Transmit COB ID 1801 subidx 01 IS High word 0x80000280 COB ID L
10. INV PC COB ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 0x080 0 0 8 RxPDO1 Operation enable 1500min 1 0x05dc B COB ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Datae Data7 0x201 0 8 Control word target velocity OxOf 0x00 Oxdc 0x05 9 SYNC RxPDO INV PC COB ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7_ 0x080 0 0 10 RTR TxPDO1 INV PC COB ID RTR DLC DataO Data1 Data2 Data3 Data4 Data5 Data6 Data7 0x181 1 0 11 TxPDO1 INV PC COB ID RTR DLC Data0 Data 1 Data2 Data3 Data4 Data5 Data6 Data7 vl velocity 0x181 0 8 PR wore _actual_value Ox37 0x06 Oxdc i 0x05 NMT RxPDO1 RxPDO1 RxPDO1 Module Ready to Switch Operation Control switch on SYNC on SYNC enable SYNC RTR PC 1 2 4 5 6 7 8 9 10 NMT Node Boot up Guarding TxPDO1 TxPDO1 Ready to switch on Operation switch on enable Time PC
11. X RJ45 20 cm TOSHIBA E6581910 25 CiA 303 1 a b c Bus Cable Length 600 Bus Cable Length 55 ksm 0 2 CANC 22 ksm 0 2 CAT5 ksm 0 2 300 100 20 40 500 B 125k 400 250k 500k 800k 1000k 60 80 100 120 Node No Number of node Lu 20 40 60 80 100 120 max 2Lu CANC 22 CATS cable 1 TOSHIBA E6581910 2 6 1 unit Tx 8byte 4word Rx 8byte 4word total 129bit include stub 5 bits Delay 3 5ms Margin 8096 SCAN time ms rive Unit 8 16 32 48 64 bps 1M 7 9 14 19 25 800k 7 10 17 23 3
12. bit31 RPDO21 Receive PDO21 Transmission type 25 E ud CORE asynchronous 254 or 255 synchronous 0 240 Receive PDO1 assignment Number of objects assigned 5i FAN T i165 Sub index 01 04 0 IC v Sub index 01 04 Sub index Receive PDO1 assignment 1 object assigned RW u32 0x60400010 Controlword Object 6040 Sub index 00 16bit Receive PDO1 assignment 2 object assigned 02 une 0x00420010 vl target velocity Object 6042 clipe 00 16bit 03 R W u32 0x00000000 Receive PDO1 assignment 3 object assigned 04 R W u32 0x00000000 Receive PDO1 assignment 4 object assigned 00 R W u8 0x01 Receive PDO2 assignment Number of objects assigned 01 R W u32 0x60400010 Receive PDO2 assignment 1 object assigned 1601 02 R W u32 0x00000000 Receive PDO2assignment 2m object assigned 03 R W u32 0x00000000 Receive PDO2 assignment 3 object assigned 04 R W u32 0x00000000 Receive PDO2 assignment 4 object assigned 00 R W u8 0x01 Receive PDO3 assignment Number of objects assigned 01 R W u32 0x60400010 Receive PDO3 assignment 1 object assigned 1602 02 R W u32 0x00000000 Receive PDO3assignment 2 object assi
13. 120QO 5ns m www nihondensen co jp www showa dk co jp CANC 22 24 AWG 0 22mm2 CE 2 Blue White Yellow Green 88 0 ohm km 20 C BESS 60nF km 1kHz BUR 120 ohm 10 1MHz 5 ns typ 1MHz IME 8 5mm UL style No UL 2704 75kg km X TOSHIBA E6581910 24 CANopen 120 CANH CANL CAN_GND CAN_SHLD 1 1200 1 1 4W
14. 4 1 8 3 CANopen e MI 42 TOSHIBA E6581910 1 VF S15 CANopen VF S15 CANopen 6 4 VF S15 CANopen 2 2 1 CANopen LED CAN RUN me CAN ERR VF 815 87127327575 SBPOO92 E658183 1 Z 2XRJ45 CANOO2Z D SUB 9 CANOO3Z 5
15. Abort Code Abort Code 0503 0000 Toggle bit not alternated 0504 0000 SDO protocol timed out 0504 0001 Client server command specifier not valid or unknown 0504 0002 Invalid block size block mode only 0504 0003 Invalid sequence number block mode only 0504 0004 CRC error block mode only 0504 0005 Out of memory 0601 0000 Unsupported access to an object 0601 0001 Attempt to read a write only object 0601 0002 Attempt to write a read only object 0602 0000 Object does not exist in the object dictionary 0604 0041 Object cannot be mapped to the PDO 0604 0042 The number and length of the objects to be mapped would exceed PDO length 0604 0043 General parameter incompatibility reason 0604 0047 General internal incompatibility in the device 0606 0000 Access failed due to an hardware error 0607 0010 Data type does not match length of service parameter does not match 0607 0012 Data type does not match length of service parameter too high 0607 0013 Data type does not match length of service parameter too low 0609 0011 Sub index does not exist 0609 0030 Invalid value for parameter download only 0609 0031 Value of parameter written too high download only 0609 0032 Value of parameter written too low download only 0609 0036 Maximum value is less
16. index 2000 5FFFh Index 6000 9FFFh AC VF S15 DSP 402 TOSHIBA E6581910 4 1 DS 301 4 1 1 1000 11FFh CANopen ID PDO Index Hex Sub index 03 A 1000 00 RO u32 0x00010192 Device type Bits 24 31 not used 0 Bits 16 23 Type of device 1 Bits 0 15 Device profile number 402 1001 00 u8 0x00 Error register 1 0 BitO Generic Bit4 Communication Bit1 Current Bit5 Device profile specific Bit2 Voltage Bit6 reserved 0 Bit3
17. Node ID Heartbeat L IBU L I3 Heartbeat Node Guarding 6 4 2 Heartbeat Producer Object 1017 Heartbeat Heartbeat Node Guarding Heartbeat COB ID DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 0x700 Node ID 0 1 State State A 0 Boot up 4 Stooped 5 Operational 127 Pre operational 6 4 3 Node Guarding NMT Object 100C Guard Time 100D Time Factor Guard Time X Time Factor 1 1
18. 2 Ox0000 1614 subidx 02 Command Index No 3 Ox0000 1614 subidx 03 Command Index No L BH Command 4 0x0000 1614 subidx 04 Command Index No coas so 98 POO a LIB Monitor 1 0x6041 1A14 subidx 01 Monitor Index No L B 1 Monitor 2 0x0000 1A14 subidx 02 Monitor Index No BB Monitor 3 0 0000 1 14 subidx 03 Monitor Index No Ligg Monitor 4 0x0000 1A14 subidx 04 Monitor Index No Nai z ANTES Y CANopen 7 7 L UL 103 v Objiect OPERATIONAL CANopen PRE OPERATIONAL CANopen TOSHIBA E6581910 4 Object Dictionary 3 Index 1000 1FFFh CANopen
19. SYNC SYNC SYNC DLC 1 SYNC SYNC COB ID RTR DLC Data0 Data 1 Data2 Data3 Data4 Data5 Data6 Data7 0x080 0 0 SYNC COB ID RTR DLC Data0 Data 1 Data2 Data3 Data4 Data5 Data6 Data7 0x080 0 1 Count 6 3 4 Emergency Object CANopen Emergency Emergency COB ID RTR DLC Data0 Data1 Data2 Emergency 0x080 Error Node ID 0 9 ae Register 1 Error Code Object 603F 5 1 1 Object 603Fh Error Code TOSHIBA E6581910 6 4 VF S15 CANopen
20. 1 object 1010 Sub index 01 01 u32 0x00000003 Save all parameter e v a s 0x65 0x76 0x61 0x73 CANopen L 100 Object 6000 EEPROM 1011 00 u8 0x01 Number of entries 1 object 1011 Sub index 01 01 R W u32 0x00000001 Restore default parameter d a o l 0x64 0x61 Ox6f 0x6c CANopen E 7 188 Object 6000 1014 00 u32 0x00000080 Node ID COB ID Emergency message EMCY Bit 31 0 EMCY exist is valid Bit 30 Reserved Bit 29 0 frame is 11bit CAN ID valid 1 bit 0 10 11bit CAN ID of the CAN base frame TOSHIBA E6581910 1016 00 u8 0x01 Consumer Heartbeat Time Number of entries 01 R W u32 0x00000000 Bits 24 31 Resaved 00 Bits 16 23 Node ID of Heartbeat Producer Bits 00 15 Max duration of Consumer Heartbeat unit 1 ms Hea
21. 8 1 TOSHIBA 8 E6581910 E B t m Communication Profile 1 DS301 V4 02 CiA DR 303 3 V1 3 Indicator specification CiA DSP 402 Ver1 1 Drives and motion control device profile Velocity mode Communication medium CAN ISO 11898 8 2 CANopen mg B E HB fa 2 ID 1 127 1 64 6 20k 50k 125k 250k 500k 800k 1M 125kbps E aaa ee RUN LED LED BIS ARIE at ERR LED LED Time stamp E 1 SDO server SD Expedited segment transfer Ee PDO1 556 COB ID PDO21 Translation Type RPDO Synchronous Asynchronous Translation Type Acyclic Synchronous Cyclic synchronous Synchronous RTR only TPDO Asynchronous RTR only Asynchronous timer trigger HEALTH 1 Producer Heartbeat 1 Consumer RJ45 TOSHIBA 6581910 8 3 CANopen CAN001Z CANOO1Z 2XRJ45 Plug Socket Ea
22. TOSHIBA E6581910 2 CANopen CANopen 2 i LOC i 108 CMTB 48 SCLC RKPOOTZ RS485 CANopen RS485 RUN STOP 104 FCHQ RS485 i CANopen R J 4 5 AC
23. Object Object Object 6046 Store Parameters Object 1010 EEPROM 5 1 8 Object 6048h vl velocity acceleration 225 30 000 min 0 3600 s FS 19 5 1 9 Object 6049h vl velocity_deceleration min 225 30 000 min
24. TOSHIBA E6581910 LED CIA 303 3 LED 2 1 1 LED RUN LED RUN LED ERE Wt m ERR LED Blinking x Pq q Dd OFF eo 200 ms PRE OPERATIONAL PRE OPERATIONAL Single flash M F3 STOPPED STOPPED or gt lt L 200ms 1s RUN On Tm ERR Off OPERATIONAL OPERATIONAL ERR LED RUN LED J RE ERR LED GA S RUN Em ERR Off No Error Single flash _ _ ON CAN OFF b RN Warning limit reached w M 200ms 1s Double flash ON NMT slave or k KX Error control event NMTmaste aon heartbeat consumer 9 200ms 1s RUN aes ERR On Bus off Bus off
25. 6042 min max 6046 Velocity limit function 6046 Ramp Function 6043 Velocity Control function 6044 TOSHIBA E6581910 5 1 1 Object 603Fh Error Code Error ze Inverter Inverter code SMS Dade name m w 0000h No error 00 OxOE HLg Motor overload 0x15 Errg Main unit RAM fault 0x16 Err 3 Main unit ROM fault 0x17 E 4 CPU fault 1 0x1A Err 1 Current detector fault 1000h Generic error Oe SE le 0x28 Ekm Auto tuning error 0x35 7 CPU fault 2 Ox3A E 25 CPU fault 3 Ox3F E 3 Heavy cycle of main power ON OFF 0x55 Ek ma Auto tuning error 0x56 Au
26. CiA 402 2 Drives and motion control device profile Velocity mode index Access PD Default value Description Hex index Mapping 603F 00 R u16 Yes 0x0000 Error code 6040 00 R W u16 Yes 0x0000 Controlword 6041 00 R u16 Yes 0x0000 Statusword 6042 00 R W i16 Yes 0x0000 VI Target Velocity min 6043 00 R i16 Yes 0x0000 VI Velocity Demand min 6044 00 R i16 Yes 0x0000 VI Velocity Actual Value min 00 R u8 No 0x02 VI Velocity Min Max Amount 6046 01 R W u32 No 0x0000 VI Velocity Min Amount min 02 R W u32 No 0x05dc VI Velocity Max Amount min 00 R u8 No 0x02 VI Velocity Acceleration Highest sub index supported 6048 01 R W u32 No 0x0000 05DC VI Velocity Acceleration Delta Speed min 02 R W u16 No 0x000A VI Velocity Acceleration Delta Time s 00 R u8 No 0x02 VI Velocity Deceleration Highest sub index supported 6049 01 R W u32 No 0x0000 05DC VI Velocity Deceleration Delta Speed min 02 R W u16 No 0x000A VI Velocity Deceleration Delta Time s 00 R u8 No 0x02 VI Velocity Quick Stop Highest sub index supported 604A 01 R W u32 No 0x0000 05DC VI Velocity Quick Stop Delta Speed min 02 R W u16 No 0x0006 VI Velocity Quick Stop Delta Time s 605A 00 R W i16 No 0x02 Qucick Stop Option Code TOSHIBA E6581910 5 CiA 402
27. H index LL LH HL HH 6 22 Object byte COB ID DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 0 600 ObjNo Sub 8 H index Data M 5 word COB ID DLC Data0 Data 1 Data2 Data3 Data4 Data5 Data6 Data7 0x600 0 8 2 bj No Sub _ Data il ERN C Node ID i L H index L H Cong COB ID DLC Data0 Data 1 Data2 Data3 Data4 Data5 Data6 Data7 0 600 jg 8 23 Ob No Sb _____ Node ID i L H index LL LH HL j HH COB ID DLC Data0 Data 1 Data2 Data3 Data4 Data5 Data6 Data7 0x580 Obj No Sub Node ID 8 60 T H index M ENT Niue 6 2 3 Abort Code COB ID RTR DLC Data0 Data 1 Data2 Data3 Data4 Data5 Data6 Data7 0x580 Obj No Sub Abort Code Node iD 9 8 899 Pop PT index it iH HE HA TOSHIBA E6581910 6 2 3 Abort Code SDO
28. VF S15 velocity mode Value Definition 128 to 1 Manufacture specific operation modes 0 No mode change no mode assigned 1 Profile position mode 2 Velocity mode 3 Profile velocity mode 4 Torque profile mode 5 Reserved 6 Homing mode 7 Interpolated position mode 8 Cyclic sync position mode 9 Cyclic sync velocity mode 10 Cyclic sync torque mode 11 to 127 Reserved 5 1 13 Object 6061 Modes of operation display Operation mode VF S15 velocity mode 02h Value Definition 2 Velocity mode 5 1 14 Object 6502 Support drive mode Operation mode VF S15 velocity mode 0002h 31 16 15 10 9 8 7 6 5 4 3 2 1 0 Manufacture specific reserved cst csv csp ip hm tq pv V pp 0 0 0 0 0 0 0 0 0 0 0 0 1 0 MSB LSB TOSHIBA E6581910 6 CANopen 6 1 NMT CANopen
29. f 1 1 Bf bl CANopen E6581910 Termination 29 resister PC B n JH Lige 1 CANopen Enid BEREE FEIR 0 CANopen X 4 Ab B C101 DD 1 174127 Board rate m 0 20k 4 500k a CAN Le 1 50k 5 800k 2 125k 6 1M 125kbps 3 250k IT PDO1 Receive COB ID entry 1400 subidx 01 High word 0 00000200 COB ID L Low word COB ID 0x00000200 Node ID 113 RPDO transmission type OxOFF 1400 subidx 02 Asynchronous PA Transmit COB ID 1800 subidx 01 2 RUNE High word 0x00000180 COB ID L115 Low word COB ID 0x00000180 Node ID L 1 5B TPDO Transition type OxOFF 1800 subidx 02 Asynchronous 150 PDO1 Number of objects 0x02 1600 subidx 00 Receive PDO1 assignment Number of objec
30. 8 ooe 0x00 0x00 5 RxPDO1 Switch on INV PC COB ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 Control word target velocity 0201 0 8 0x00 oxoo 0x00 6 RxPDO1 Operation enable 1500min 1 0x05dc pe RTR DLC Datad Data Data2 Data3 Data4 Data5 Data6 Data lt Control word v target velocity 0x201 0 8 0x0f 0x00 Oxdc 0x05 7 RTR TxPDO1 INV PC COB ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 0x181 1 0 8 TxPDO1 INV PC COB ID RTR DLC Data0 Data 1 Data2 Data3 Data4 Data5 Data6 Data7 Status word yi velocity gt 0x181 0 8 _actual_value 0x37 0x06 Oxdc 0x05 NMT RxPDO1 RxPDO1 RxPDO1 Module Ready to switch Operation Control Switch on enable RTR PC 1 2 4 5 6 7 Node Guarding Ready to switch on TxPDO1 Operation enable switch on Time PC TOSHIBA 1 2 SYNC SYNC E6581910
31. 0 3600s FS 35 5 1 10 Object 604Ah vl velocity quick stop dquick_stop min 5 1 1 1 Object 605Ah Quick stop option code quick_stop Operation Value Definition 32768 to 1 No function 0 Disable drive function 1 Slow down on slow down ramp and transit into Switch On Disabled 2 Slow down on quick stop ramp and transit into Switch On Disabled 3 Do not set 4 Slow down on voltage limit and transit into Switch On Disabled 5 Slow down on slow down ramp and stay in Quick Stop Active 6 Slow down on quick stop ramp and stay in Quick Stop Active 7 Do not set 8 Slow down on voltage limit and stay in Quick Stop Active 9 to 32 767 Reserved TOSHIBA E6581910 5 1 12 Object 6060 Modes of operation Operation mode
32. 3 qe 10 3 1 1 3A x gt T CI Ilt 1 1 4 Dae e eds PER VA eO PACA ua M Rcs De INC ATIS copie cle ci s fe SI d pad e fe 1 5 4 1 DS 301 exce aed VIRA ERD SOIT EEN SS BAS OR LR TE WEIS OSS ss 16 4 1 1 1000 11FFh 16 412 SDO SUR E cena Ces ape its ma Te ET VCI Pr Edi cem ELA CES sev BAe Ne RIT MR kus 1f 4 1 3 PDO dv asit at aul o d I srl a S S E 1f 4 1 4 RPDO 7 SN PPP 1 8 41 5 TPDO raei eraa Ekoa US DR ELEC S SCR ECKE Te way ENNIUS EUR ND ECRIRE Grete En TE 1 9 42 kaq aa ds es wey SORA TAE ECRANS UR I k dum pc eO IC y IR CUR Je S RC ARE A UR S 20 43 CiA 402 RR VE Sasa dr R iut Re sores ep W a ter br we qa pri et ilg c 21 5 720 TA 22 5 1 i Velocity mode REN wae ERD ar eke EI aera ee at cane le alae S 22 5 1 Object 603FHh Error Code Side eoe Se Cete Rudd ge edo eg nah pik V LA d ta sgt
33. ae OX02 Sub index 01 04 Sub index Transmit PDO1 assignment 1 object assigned 1500 x FAN une 00900 Statusword Object Sout 00 Tod Transmit PDO1 assignment 2 object assigned 02 RW u32 0 vl velocity actual idus Object add 00 16bit 03 R W u32 0x00000000 Transmit PDO1 assignment 3 object assigned 04 R W u32 0x00000000 Transmit PDO1 assignment 4 object assigned 00 R W u8 0x01 Transmit PDO2 assignment Number of objects assigned 01 R W u32 0x60410010 Transmit PDO2 assignment 1 object assigned 1A01 02 R W u32 0x00000000 Transmit PDO2 assignment 2 object assigned 03 R W u32 0x00000000 Transmit PDO2 assignment 3 object assigned 04 R W u32 0x00000000 Transmit PDO2 assignment 4 object assigned 00 R W u8 0x01 Transmit PDO3 assignment Number of objects assigned 01 R W u32 0x60410010 Transmit PDO3 assignment 1 object assigned 1A02 02 R W u32 0x00000000 Transmit PDO3 assignment p object assigned 03 R W u32 0x00000000 Transmit PDO3 assignment 3 object assigned 04 R W u32 0x00000000 Transmit PDO3 assignment 4 object assigned 00 R W u8 0x01 Transmit PDO21 assignment Number of objects assigned 01 R W u32 0x60410010 Transmit PDO21 assignment 1 object assigned 1A14 02 R W u32 0x00000000 Transmit PDO21 assignment 2n object assigned 03 R W u32 0x00000000 Tra
34. product inv vfs15 can idx_j asp CANopen CiA CAN in Automation B VF S15 6581610 B ru E 5 A Y om 64 Y
35. than minimum value 060A 0023 Resource not available SDO connection 0800 0000 General error 0800 0020 Data cannot be transferred or stored to the application 0800 0021 Data cannot be transferred or stored to the application because of local control 0800 0022 nd cannot be transferred or stored to the application because of the present device 0800 0023 Object dictionary dynamic generation fails or no object dictionary is present e g object dictionary is generated from file and generation fails because of an file error 0800 0024 No data available TOSHIBA E6581910 6 3 PDO Process Data Object 6 3 1 TxPDO RxPDO TxPDO TxPDO1 Transmission type Object 1800h subindex 02 TxPDO2 Transmission type Object 1801h subindex 02 TxPDO3 Transmission type Object 1802h subindex 02 TxPDO21 Transmission type Object 1814h subindex 02 TxPDO Transmission type Transmission Condition to trigger PDO SYNC RTR
36. 0 CE HB ag Fa TES Ver1 00 _ igre x E Guard Time Heartbeat RY CErrd L IU ORE TED 0 1022 0 1 15 0 raina 1 1 Bd CHS CANopen Option 2 1 R 0 CANopen t lt C181 ID 0 A i UI Board rate OVE 0 20k 4 500k 2 CAN Lug 1 50k 5 800k BE 2 125k 6 1M 125kbps 3 250k L 3 SYNC message COB ID 0 0080 1005 Set Lower word L 1H Guard Time 0 100C 1ms HITS Life Time Factor 0 100D 0 255 1016 L 748 Node ID of Heartbeat Producer 0x0000 Bits 16 23 Node ID of Heartbeat Producer Bits 24 31 Reserved 00 TOSHIBA E6581910
37. 0 500k 9 14 25 35 45 250k 14 25 45 66 87 125k 25 45 87 128 169 50k 56 107 210 314 417 20k 133 262 520 778 1036 10k 262 520 1036 1552 2068 Time No of bit x No of Drive unit x No of PDO baud rate margin delay 1TPDO 1RPDO G 4 Ex 1Mbps 1TPDO 1RPDO 80 3 5ms delay Time 129bit x 64unit x 2PDO 1e6 80 100 3 5ms 25ms TOSHIBA E6581910 3 3 1 CANopen 402 CANopen 22 Caged 1 3 Frid O 6 CANopen Control terminal RS485 Operation pane
38. 0 subidx 02 Monitor Index No ZEE Monitor 2 JUS 0x6044 vl velocity actual value 1 NMT Boot up ON INV PC COB ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 gt 0x701 0 8 0 d 2 NMT Module Control Operational INV PC COB ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data lt Ox000 0 8 1 1 DE Eu m ILES EE 3 NMT Node Guarding INV PC COB ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 0x05 0x701 0 8 or 0x85 TOSHIBA E6581910 4 RxPDO1 Ready to switch on INV PC COB ID RTR DLC Data0 Control word vi_target_velocity 0x201 0 8 Goe 0x00 oxoo 5 SYNC RxPDO INV PC COB ID RTR DLC DataO Data1 Data2 Data3 Data4 Data5 Data6 Data7 0x080 0 0 6 RxPDO1 CSwitch on INV PC COB ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 Control word vi_target_velocity 0x201 0 8 0x00 0x00 0x00 7 SYNC RxPDO
39. Disable voltage command from control device or TE drive Minoon Spall be disabled and 9 the high level power shall be switched off ocal signal if possible 10 Disable voltage or quick stop command from The high level power shall be switched off control device or local signal if possible 41 al stop command from control device or local The quick stop function shall be started Automatic transition when the quick stop function is completed and quick stop option code 605A The drive function shall be disabled and 12 is 1 2 3 or 4 or disable voltage command the high level power shall be switched off received from control device depends on the if possible quick stop option code 43 Fault signal see also CiA402 3 ub configured fault reaction function shall e executed The drive function shall be disabled the 14 Automatic transition high level power shall be switched off if possible A reset of the fault condition is carried out Fault reset command from control device or local no CNMENUY one he divo 15 signal device after leaving the Fault state the Fault reset bit in the controlword shall be cleared by the control device 16 Enable operation command from control device if The drive function shall be enabled the quick stop option code 605A is 5 6 7 or 8 TOSHIBA 5 1 3 Object 6041h Statusword 15 14 13 12 11 10 7 6 ms oms ila tr rm ms MSB ms man
40. ID PDO1 vi_target_velocity _actual_value TPDO1 0x00000180 Node ID variable mapping variable mapping RPDO1 0x00000200 Node ID variable mapping variable mapping variable mapping variable mapping variable mapping variable mapping COB ID PDO2 TPDO2 0x00000280 Node ID variable mapping variable mapping RPDO2 0x00000300 Node ID variable mapping variable mapping variable mapping variable mapping variable mapping variable mapping COB ID PDO3 TPDO3 0x00000380 Node ID variable mapping variable mapping RPDO3 0x00000400 Node ID variable mapping variable mapping variable mapping variable mapping variable mapping variable mapping COB ID PDO21 TPDO4 0x00000480 Node ID variable mapping variable mapping RPDO4 0x00000500 Node ID variable mapping variable mapping TOSHIBA E6581910 4 1 4 RPDO dus 4 Access Type Default value fe 00 R ua 0x02 Receive PDO1 Number of objects Receive PDO1 COB ID entry 01 R 32 0x00000200 0x00000200 parameter data 7 7 Node ID 1400 W N
41. IE NE EE EE ELIT CIR GEHE IUS 31 6 2 2 NR NR EE NRE BE A ers EUR aris Men eee Mer 31 6 2 3 Abort Code WGP ACR ies OO I cS wap NN P Eo SCTE N WA ACO Ya NU Bae 32 6 3 PDO WR EN NS CE NA CE w YE RR Yo pay k apa pia a a Cu 33 6 3 1 TxPDO RxPDO ND ET DERE CE NE RE es 33 6 3 2 RTR 33 6 3 3 SYNC X Miele Coy Span er City Serine on Ries E E TUER e wt woes sare 34 6 3 4 Emergency Object FrEE NELE ALERE CUR S aw e Geo dI RUP EL RT ER CR ARTS REOR TC VR ORE US 34 TOSHIBA E6581910 GA HH hehehe 35 64 1 Heartbeat Consumer 35 642 Heartbeat Producer e e hehehe rne 35 6 4 3 Node Guarding n nnne 35 65 NMTBoot up e e e e HH e e enn nene 36 T EB HH HH IH HH HH Hh HH Hh Hh he hh 3T T4 HH HII HH Hmm nnn 3T T2 SYNC HII 39 8 4 1 81 e e e HH 4 1 82 CANopen
42. L Wd Transmit Inhibit time 0x0064 1814 subidx 03 unit 100us min 2ms Transmit Reserved 1814 subidx 04 149 Transmit Event timer 0 1814 subidx 05 0 Disable unit 1ms TOSHIBA L PDO1 ramo 3 r x L E r L ad rara 24 r L rara 3 r L 2H r L razm L PDO2 7 r I nc rura L rara 5 4 rur Ba rues n rara rae m F Bd raan L Hi PDO3 ra 7 7 772 ri 3 run L 7 4 raar Leto raar L 7 7 rua 7 7 raain L r raain 7 7 E6581910 Number pabio 0x02 1600 subidx 00 Receive PDO1 assignment Number of objects assigned 1600 subidx 01 Command Index No 1 240049 0x6040 Controlword 1600 subidx 02 Command Index No command 0x6042 vl target velocity Command 3 0x0000 1600 subidx 03 Command Index No Command 4 0x0000 1600 subidx 04 Command Index No Number of objects 0x02 1A00 pubis 00 Transmit PDO1 assignment Number of objects assigned 1A00 subidx 01 Monitor Index No Monitor 0 6041 vl Statusword 1A00 subidx 02 Monitor Index No Me
43. TOSHIBA E6581910 TOSVERT VF S15 CANopen 1 2 www inverter cojjp TOSHIBA E6581910 TOZEUR Srt ESERI YNY VE S15 CANopen TOSVERTVP S15 E6581610 TOSVERT VF S15 E6581912 VF S15 E6581838 EDS HP http www inverter co jp
44. Temperature Bit7 Manufacturer specific 1003 00 u8 0x01 Number of errors 1 object 1003 Sub index 01 01 u32 0x00000000 Standard error field Bits 16 31 Additional information 0 Bits 00 15 Error code parameter 1005 00 u32 0x00000080 COB ID entry for SYNC message Bit 30 Bit 29 0 0 Bit 0 10 11bit SYNC COB ID 1008 00 string VF S15 Manufacturer device name 100A 00 string 1 00 Manufacturer software version Application software version VF S15 parameter FE QA 100C 00 R W u16 0x0000 Guard Time 0 ms Object 1017 Producer Heartbeat Time gt 0 Node Guard 100D 00 R W u8 0x00 Life Time Factor Guard Time 0 Node Guarding 1010 00 u8 0x01 Number of entries
45. able 0x40 7310h Speed 0x2D E 4 Over speed fault 7510h Serial interface No 1 0x18 5 Remote control error 7520h Serial interface No 2 0x1B Err 8100h Communication generic CANopen communication generic 8130h 3i eror or CANopen life guard error or heartbeat error eartbeat error 8140h Recovered from bus off CANopen recovered from bus off TOSHIBA E6581910 8331h Torque fault Ox2F lL Step out for PM motor drive only 8501h 0x45 321 Servo lock fault 0x11 Emergency stop Extemal malungian Ox2A E i Analog input terminal overvoltage FFOOh E 0x54 Fin 1 Auto tuning error Device specific 0x1D ut Low current operation Trip generic error Ox3B BEER FLOOR 0x49 HET 3 Low torque or current fault 1 Error code pre defined error field 1003h sub index 01h 16bitt 2 Inverter trip code TOSHIBA E6581910 5 1 2 Object 6040h Controlword 15 11 10 9 8 7 6 5 4 3 2 1 0 ms r oms h om Tas lt 0 MSB LSB ms manufacturer specific r reserved oms operation mode specific h halt fr fault reset eo enable operation qs quick stop ev enable voltage From any state y 13 Fault reaction active SW xxxx xxxx 1111 0 14 Not Ready
46. dte dog obe aO 23 1 2 Object 6040h Controlword EE RAA fou eee wy SRLS aie Gabi RR NEA 25 5 1 Object 6041 h Statusword W wheter p yaa eee eee 27 5 1 A Object 6042h vl target velocity VERUM EAR p a ARR aa cs nay E QUSS Teele ois n d RR wie 27 5 1 5 Object 6043h vl velocity demand aC pct Ina SEE EUR IUS on REL ANS GL EEEN 27 5 1 6 Object GO44h vivelocity actual Value TTA mm 27 5 1 7 Object 6046h vl_velocity_min_max amount seesceeesene s nnn eae sins 28 5 1 8 Object 6048h vl_velocity_acceleration ee 28 5 1 9 Object GO49h vl_velocity_deceleration ee 28 5 1 Object 604Ah vl velocity quick stop Sous dou ene ue do Ax oce CE rein gc e erg PRS 28 5 1 11 Object GOSAh Quick stop option code Fem ey teens 28 1 2 Object 6060 Modes of operation PE 29 5 1 13 Object 6061 Modes of operation display ies ratings re 29 5 1 4 Object 6502 Support drive mode BM car or tee ats a MUST p oreo aS Dealers uyw ER 29 6 CANopen PE 30 6 1 TRSEXSTS C NMT ux wy SL V vci A sup A Su av d qua det DUC CE 30 6 2 SDO I pq Mic Wo Gen it EEE Mine Grol 30 6 2 1 RE EE RE
47. evant PDO Transmission SYNC TPDO Object TPDO RTR N m n SYNC 2 RTR 241 251 252 SYNC RTR 253 Y RTR TPDO Object 254 ES v Y 5 LIED 5246250 DD Inhibit time TPDO Event timer Event 255 v Y RTR RxPDO RxPDO1 Transmission type Object 1400h subindex 02 RxPDO2 Transmission type Object 1401h subindex 02 RxPDO3 Transmission type Object 1402h subindex 02 RxPDO21 Transmission type Object 1414h subindex 02 RxPDO Transmission type Transmissi
48. gned 03 R W u32 0x00000000 Receive PDO3 assignment 3 object assigned 04 R W u32 0x00000000 Receive PDO3 assignment 4 object assigned 00 R W u8 0x01 Receive PDO21 assignment Number of objects assigned 01 R W u32 0x60400010 Receive PDO21 assignment 1 object assigned 1614 02 R W u32 0x00000000 Receive PDO21assignment 2 object assigned 03 R W u32 0x00000000 Receive PDO21 assignment 3 object assigned 04 R W u32 0x00000000 Receive PDO21 assignment 4 object assigned TOSHIBA 4 1 5 TPDO E6581910 Index Hex index Access Type Default value Description 00 R u8 0x05 Transmit PDO1 Number of entries Transmit PDO1 COB ID RAN 55 0x00000180 0x00000180 parameter data 7 3 Node ID Node ID C9 COB ID bit30 bit31 TPDO1 Transmit PDO1 Transmission type 1800 92 RAN us OXOEE asynchronous 254 or 255 cyclic synchronous 0 240 Transmit 1 Inhibit time unit 100us dee Ir ae 0x001E 04 R W u8 0x00 Transm
49. hibit time unit 100us Oa BAE ag 0x001E 04 R W u8 0x00 Transmit PDO3 Reserved Transmit PDO3 Event timer 0 Disable unit ims 05 R W u16 0x0064 Transmission type 254 or 255 00 R u8 0x05 Transmit PDO21 Number of entries Transmit PDO21 COB ID a RAN us 0x80000480 0x80000480 parameter data 743 Node ID Node ID Cd COB ID bit30 bit31 TPDO21 Transmit PDO21 Transmission type 1814 02 add ue asynchronous 254 or 255 cyclic synchronous 0 240 Transmit PDO21 Inhibit time unit 100us IN 0x001E 04 R W u8 0x00 Transmit PDO21 Reserved Transmit PDO21 Event timer 0 Disable unit 1ms 05 R W u16 0x0064 Transmission type 254 or 255 TOSHIBA E6581910 dex Sub 8 Hex index Transmit PDO1 assignment Number of objects assigned Sub index 01 04 0 cv ll Ro
50. it PDO1 Reserved Transmit PDO1 Event timer 0 Disable unit ims 05 R W u16 0x0064 Transmission type 254 or 255 00 R u8 0x05 Transmit PDO2 Number of entries Transmit PDO2 COB ID 9i RAN ida 0x80000280 0x80000280 parameter data 72 3 Node ID Node ID C9 COB ID bit30 bit31 TPDO2 Transmit PDO2 Transmission type 1801 92 RI ue OE asynchronous 254 or 255 cyclic synchronous 0 240 Transmit PDO2 Inhibit time unit 100us 98 p RAS dee 0x001E 04 R W u8 0x00 Transmit PDO2 Reserved Transmit PDO2 Event timer 0 Disable unit ims 05 R W u16 0x0064 Transmission type 254 or 255 00 R u8 0x05 Transmit PDO3 Number of entries Transmit PDO3 COB ID 4 RIN m 0x80000380 0x80000380 parameter data 7 3 3 Node ID Node ID d COB ID bit30 bit31 TPDO3 Transmit PDO3 Transmission type 1802 02 RW ue OXOFT asynchronous 254 or 255 cyclic synchronous 0 240 Transmit In
51. l communication Serial Comm FA00 CANopen FA04 CANopen B 6040 CiA 402 State machine Network option 1 FAO1 Hz RS485 communication FA13 min Network option C906 min 2 TOSHIBA E6581910 3 22 xxxx subidx xx I CANopen Object ID sub index CANopen FESS 2 2 4 0 FA00 CANopen CiA 402 FA04 cage 0 CiA 402 FA06 1 2 keo S r 7 0 1 0 pe Bo 0 0 0 0 100 0 sec
52. nge dnd 0x6044 vl velocity actual value Monitor 3 0x0000 1A00 subidx 03 Monitor Index No Monitor 4 0x0000 1A00 subidx 04 Monitor Index No Number ofObiects 0x01 1601 subidx 00 Receive PDO2 assignment Number of objects assigned Command 1 0x6040 1601 subidx 01 Command Index No Command 2 0x0000 1601 subidx 02 Command Index No Command 3 0x0000 1601 subidx 03 Command Index No Command 4 0x0000 1601 subidx 04 Command Index No Naber of obede 0x01 1A01 00 Transmit PDO2 assignment Number of objects assigned Monitor 1 0x6041 1A01 subidx 01 Monitor Index No Monitor 2 0x0000 1A01 subidx 02 Monitor Index No Monitor 3 0x0000 1A01 subidx 03 Monitor Index No Monitor 4 0x0000 1A01 subidx 04 Monitor Index No Nurb r of objects 0x01 1602 subidx 00 Receive PDO3 assignment Number of objects assigned Command 1 0x6040 1602 subidx 01 Command Index No Command 2 0x0000 1602 subidx 02 Command Index No Command 3 0x0000 1602 subidx 03 Command Index No Command 4 0x0000 1602 subidx 04 Command Index No Numberet objects 0x01 1A02 subidx 00 Transmit PDO3 assignment Number of objects assigned Monitor 1 0x6041 1A02 subidx 01 Monitor Index No Monitor 2 0x0000 1A02 subidx 02 Monitor Index No Monitor 3 0x0000 1A02 subidx 03 Monitor Index No Monitor 4 0x0000 1A02 subidx 04 Monitor Index No TOSHIBA E6581910 LABI Command 1 0x6040 1614 subidx 01 Command Index No
53. nsmit PDO21 assignment 3 object assigned 04 R W u32 0x00000000 Transmit PDO21 assignment 4n object assigned 42 d RS485 Trans Object No type Note F000 F999 0000 0999 2000 2999 SDO SDO FA00 FFFF FAOO FFFF 2 00 2FFF PDO A000 AFFF 000 AFFF 3000 3FFF SDO C000 CFFF C000 CFFF 4000 4FFF SDO TOSHIBA E6581910 43 CiA 402 VF S15
54. ode ID Cd COB ID bit30 bit31 RPDO1 Receive PDO1 Transmission type 2 RW us OXOFE asynchronous 254 or 255 synchronous 0 240 00 R u8 0x02 Receive PDO2 Number of objects Receive PDO2 COB ID entry 01 RW 32 0x80000300 0x80000300 parameter data 72 Node ID 1401 Node ID C3 COB ID bit30 bit31 RPDO2 Receive PDO2 Transmission type 02 RW u8 OXOFE asynchronous 254 or 255 synchronous 0 240 00 R u8 0x02 Receive PDO3 Number of objects Receive PDO3 COB ID entry 01 RAW 0x80000400 0x00000400 parameter data E 7 31 Node ID 1402 Ps Node ID COB ID bit30 bit31 RPDO3 Receive PDO3 Transmission type 02 RW ne UXDEE asynchronous 254 or 255 synchronous 0 240 00 R u8 0x02 Receive PDO21 Number of objects Receive PDO21 COB ID entry 0x80000500 Ox80000500 parameter data 74 Node ID 1414 OT RW u32 Node ID COB ID bit30
55. on Condition to trigger PDO gt type SYNC RTR Event PDO Transmission 0 240 V RxPDO SYNC 241 253 254 Y RxPDO 255 zx Y RxPDO 6 3 2 RTR TxPDO Transmission type 1800h 1801h 1802h 1814h subindex 02 RTR Remote Transfer Request TxPDO TOSHIBA E6581910 TxPDO1 RTR COB ID RTR DLC Data0 Data 1 Data2 Data3 Data4 Data5 Data6 Data7 0x180 1 0 Node ID TxPDO2 RTR COB ID RTR DLC Data0 Data 1 Data2 Data3 Data4 Data5 Data6 Data7 0x280 1 0 Node ID TxPDO3 RTR COB ID RTR DLC Data0 Data 1 Data2 Data3 Data4 Data5 Data6 Data7 0x380 1 0 Node ID TxPDO21 RTR COB ID DLC 0x480 1 0 Node ID Data0 Data 1 Data2 Data3 Data4 Data5 Data6 Data7 6 33 SYNC TxPDO Transmission type 1800h 1801h 1802h 1814h subindex 02 X5 RxPDO Transmission
56. ow word COB ID 0x00000280 Node t eb TPDO Transition type OxOFF 1801 subidx 02 Asynchronous fle Transmit Inhibit time 100 1801 subidx 03 unit 100us min 2ms pee Transmit Reserved whe 1801 subidx 04 7128 Transmit Event timer 0 1801 subidx 05 0 Disable unit 1ms r 33 1 PDO3 Receive COB ID entry 1402 subidx 5 High word 0x80000400 COB ID Lidge Low word COB ID 0x00000400 Node ID L 33 RPDO transmission type OxOFF 1402 subidx02 Asynchronous r1234 Transmit COB ID 1802 subidx 01 High word 0x80000380 COB ID L 35 Low word COB ID 0x00000380 Node ID r 115 TPDO Transition type OxOFF 1802 subidx 02 Asynchronous L Transmit Inhibit time 100 1802 subidx 03 unit 100us min 2ms Transmit Reserved 1802 subidx 04 r 1383 Transmit Event timer 0 1802 subidx 05 0 Disable unit 1ms F3141 Ppoz1 Receive COB ID entry 1414 subidx 01 CES High word 0x80000500 COB ID tide Low word COB ID 0x00000500 Node ID Laud RPDO transmission type OxOFF 1414 subidx 02 Asynchronous ru Transmit COB ID 1814 subidx 01 RR High word 0x80000480 COB ID L 145 Low word COB ID 0x00000480 Node ID r 145 TPDO Transition type 0x0FF 1814 subidx 02 Asynchronous
57. rational Read Read Write 1 Read Write Read Write 1 TOSHIBA E6581910 6 2 1 Object COB ID RTR DLC Data0 Data 1 Data2 Data3 Data4 Data5 Data6 Data7 0x600 Obj No I Sub Node ID 0 40 L D 4 H index 2 i zs ad i zr byte COB ID DLC Data0 Data 1 Data2 Data3 Data4 Data5 Data6 Data7 0x600 se Obj No Sub Node ID 9 8 S YE H index Pata P M word COB ID DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 0 600 4 3 4p 9bjNo Sub d Node ID L H index L iH long COB ID RTR DLC Data0 Data 1 Data2 Data3 Data4 Data5 Data6 Data7 0x600 Obj No Sub Data Node ID A5 IET H index LL LH HL HH 6 2 3 Abort Code COB ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data 0 580 Obj No Sub Abort Code Node ID L
58. rtbeat Producer O ID 0 Heartbeat 1017 00 u16 0x0000 Producer Heartbeat Time Heartbeat messages the unit of this object is 1 ms Producer Heartbeat Time gt 0 Node Guarding 1018 00 u8 0x01 ID object Number of objects 01 u32 0x00000284 ID object Supplier ID 0x00000284 Toshiba Schneider Inverter Co 4 1 2 SDO SDO COB ID Index Sub Hex index Access Type Default value 2 00 RO u8 0x02 Server SDO Number of entries 1200 01 RO u32 Server SDO COB ID Client gt Drive receive 02 RO u32 isi Server SDO COB ID Client Drive transmit Node ID 4 1 3 PDO PDO1 3 PDO21 PDO set RPDO TPDO Controlword Statusword I vl_velocity COB
59. rth through SBP009Z grounding cable TOSHIBA E6581910 II CANO02Z CANOO2Z D SUB 9 Plug Socket Description solated from drive solated from drive lsolated from drive lsolated from drive Pin 4 5 6 8 9 9 _ Shield Earth through SBP009Z grounding cable TOSHIBA E CAN003Z CANOO3Z 5 Sooket Plug 1 2 3 4 5 3 4 5 i Pin Signal Description CAN GND Isolated from drive E6581910 2 CAN L Isolated from drive 3 Shield Earth through SBP009Z grounding cable 4 CAN H Isolated from drive 5 IN _ 44E
60. to switch on Fault SW xxxx xxxx x0xx 0000 SW xxxx xxxx xOxx 1000 15 1 Switch on disabled SW xxxx xxxx x1xx 0000 CW xxxx xxxx x110 2 7 CW xxxx xxxx 0xxx x01x CW xxxx xxOx START CW Controlword 6040 SW Statusword 6041 CW xxxx 1xxx XXXX CW xxxx Oxxx x110 8 Ready to switch on SW xxxx xxxx x0 1x 0001 CW xxxx xxxx Oxxx x111 3 6 CW xxx xxxx x110 Switch on 10 SW xxxx xxxx x01x 0011 CW xxxx 0xxx x01x CW wox 1111 4 CW xxxx 0 0111 CW xxxx xx0x 12 Operation enable 16 Quick stop active SW xxxx x01x 0111 SW xxxx x0Ox 0111 CW xxxx xxxx 9 11 CW x01x so switch on Bold bits shall be supported other may be supported Command coding CiA DS402 2 DSP V3 0 Table 27 Bits of the controlword fault enable Quick enable switch Transitions reset operation stop voltage on Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Shutdown 0 x 1 1 0 2 6 8 Switch on 0 0 1 1 1 3 Switch on enable operation 0 1 1 1 1 3 4 Note Disable voltage 0 X X 0 X 7 9 10 12 Quick stop 0 X 0 1 X 7 10 11 Disable operation 0 0 1 1 1 5 Enable operation 0 1 1 1 1 4 16 Fault reset 1 X X X X 15 Note Switch on Enable operation
61. to tuning error Short circuit earth leakage 0x05 GECA Shortcircuit in arm 2230h device internal 0x01 HE Over current during acceleration 2310h Continuous over current 0x02 ir Over current during deceleration 0x03 4 Over current during constant speed operation ver cuifent 0x20 Dt Torque overload fault 2311h No 1 0x41 fit Torque overload fault i 0x48 mE Torque or current overload fault 2320h anor eirca garik lpakage 0x04 HLL Over current in load at startup motor side 2330h Earth leakage 0x22 Input phase failure 0x0A iF 1 Overvoltage during acceleration 3110h Mains over voltage 0x0B HPg Overvoltage during deceleration 0x0C iif 4 Overvoltage during constant speed operation 3120h Mains under voltage 0x1E input voltage in the main circuit is too 3130h Phase failure 0x08 EPH Input phase failure 0x09 EPHI Motor 1 phase loss SET utputevervoliage 0x0F Bi Dynamic braking resistor overload trip Excess temperature 0x0D HL Inverter overload 4210h device 0x10 Overheat Ox3E m 3 Main module overload 0x12 EEP EEPROM fault 1 writing error 0x13 EEPROM fault 2 reading error SHA Centre EEPROM Altre 0x14 EEPROM fault 3 internal fault 0x29 ELELHP Inverter type error 0x33 E 4 CPU communication error 6100h meme solvate 0x37 E g424 CPU communication error Ox2bE He 7300h Sensor 0x32 E 4 Brea analog signal c
62. ts assigned 1600 subidx 01 Command Index No Tuam Command 1 0 6040 0 6040 Controlword 1600 subidx 02 Command Index No y 7 Command 2 039038 0x6042 vl target velocity N Bib rotoblecis 0x02 1A00 gubio 00 Transmit PDO1 assignment Number of objects assigned s 1A00 subidx 01 Monitor Index No y 7 eraa Monitor DOM 0x6041 vl Statusword r151 Monitor 2 0x6044 1A00 subidx 02 Monitor Index No 0x6044 vl velocity actual value PC TOSHIBA 1 NMT Boot up ON INV PC COB ID RTR DLC Data0 0x701 0 2 NMT Module Control Operational EG581910 INV PC COB ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 8 3 Node Gurding INV PC COB ID RTR DLC Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 0x05 T 0 701 0 8 or 0x85 4 RxPDO1 Ready to switch on pe COB ID RTR DLC Datad Data Data2 Data3 Data4 Data5 Data6 Data7 Control word target velocity 0x201 0
63. ufacturer specific oms operation mode specific ila internal limit active tr target reached rm remote w warning sod switch on disabled qs quick stop ve voltage enabled f fault oe operation enabled so switched on rtso ready to switch on 5 0 w sod as ve i oe so rto E6581910 4 3 2 1 LSB PDS FSA state Statusword Not ready to switch on XXXX xOxx 0000 Switch on disabled XXXX XXXX x1xx 0000 Ready to switch on XXX X Xxxx x01x 0001 Switched on XXXX Xxxx X01x 0011 Operation enabled XXXX xxxx x01x 0111 Quick stop active XXXX xxxx x00x 0111 Fault reaction active XXXX xOxx 1111 Fault XXXX XOxx 1000 5 1 4 Object 6042h vl target velocity min Operation enable Operation enable ER 5 1 5 Object 6043h vl velocity demand
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