安川インバータ 1000シリーズオプション CANopen 通信 取扱説明書
Contents
1. 56 C 30 EE2. 12 TOBP C730600 45B 1000 SL S3 5 ESD
3. EE I RT OR RO 8 3 3 9 D sub 3 lt 1 gt FE CC o TOBP C730600 45B 1000 SLI S3 13 5 CANopen 120 Q
4. 1 1 M3 LED ERROORUN oO M3 8 TOBP C730600 45B 1000 SL S3 4 4
5. CHARGE 50 V 0 gi ji a
6. OFF A RA oFb00 CN5 B CN5 A TOBP C730600 45B 1000 SLI S3 29 CN5 B CN5 A CN5 B Al A3 DI A3
7. eo lt Pe
8. 6 TOBP C730600 45B 1000 SL S3 2 2 CANopen SI S3 a CANopen DS 301 Ver 4 02 DSP 402 Ver 1 1 Velocity Mode TOBP C730600 45B 1000 SLI S3 7 3 1 3 3
9. CANopen 28 TOBP C730600 45B 1000 SL S3
10. iP NM PLC CPU 6 bUS b1 b1 02 3 5 NF EURO _ 0
11. R http www e mechatronics com CANopen TOBP C730600 45B 1000 SL S3 1
12. 5 lt 1 gt oN Op lt 1 gt 3102 3101 lt 2 gt CIMRACHA E S1015 6 20 TOBP C730600 45B 1000 SI S3 7 Node 3102 F6 36 0
13. TOBP C730600 45B 1000 SI S3 5 1 NT
14. 4 4 lt 1 gt 4 FE o 14 TOBP C730600 45B 1000 SL S3 5 2 CN5 A
15. 3 EEPROM EEPROM 0 EEP H 2 EEPROM Store Parameter Index 1010 Hex Restore Parameter Index 1011 Hex TOBP C730600 45B 1000 SLI S3 31 10 10 7 SI S3 DS 301 Ver 4 02 DSP 402 Ver 1 1 Velocity Mode 9 D sub 4 40 UNC thread 10 kbps 1 Mb
16. CANopen CANopen CANopen CANopen EDS EDS CANopen EDS http www e mechatronics com 16 TOBP C730600 45B 1000 SL S3 6 oO 6 4 1 SH ge 1 7 2 MEMOBUS 3 4
17. Pre Operational Bootup RUN LED ERR LED o 1 SI S3 2 3 SI S3 9 3 2 Node 1 1 Node 0 N
18. lt 6 gt NetRefComRef 0 F7 1 V7 TOBP C730600 45B 1000 SLI S3 17 6 A1 03 F6 F7 0 F6 F7 A1 03 F6 F7 A1 03 F6 08 A1 03 F6 F7 F6 35 lt 7 gt lt 8 gt 0 126 H 10 kbps 20 kbps 50 kbps 125 kbps 250 kbps 500 kbps 800 kbps 1 Mbps hg 1 0 019 100
19. lt 2 gt o1 03 PG Vif A1 02 0 PG Vf H6 01 3 0 24 TOBP C730600 45B 1000 SL S3 8 DSP 402 DSP 402 Velocity Mode E2 04 o1 03 2 min 1 Hex Common 60FD Digital Inputs lt 1 gt Entries 60FE Digital Outputs lt 2 gt 6040 Controlword Device Control 6041 Statusword 6061 Modes of operation display 6042 vl target velocity 6043 vl velocity demand 6044 vl control effort 6046 vl velocity min max amount 6048 vl velocity acceleration 6049 vl velocity deceleration 604A vl velocity qui
20. A B TTTTTTTTTT EN MN NN NN O O ED 9 G F E A 9 D sub E LED ERR lt 1 gt B CN5 F C G lt 2 gt D LED RUN lt 1 gt lt 1 gt LED LED 10 lt 2 gt 1 TOBP C730600 45B 1000 SLI S3 9 9 D sub CANopen 2 LL CAN_GND CAN_SHLD CAN_H 1 2 3 4 5 6 7 8 9 CAN_SHLD LED 2 LED
21. Al A3 DL A3 1 CN5 A Crnn tl oFC00 CN5 C CN5 A EE Cie oFC02 CN5 C CN5 A CN5 C Al A3 DI A3 AI A3 DI A3 1 CN5 A PE1 1 Reset Node SL S3 EEPROM
22. CANopen CAN in Automation CiA
23. CIMR A 2A0004 0040 4A0002 0023 ER CIMR AIZA0056 0211 4A0031 0165 A B AS CIMR A 2A0004 0040 4A0002 CIMR A2A0056 0211 4A0031 0023 0165 6 4 1 2 5 5
24. Change of state 2110 2111 lt 1 gt Change of state 2120 2121 lt 1 gt Change of state 2130 2131 lt 1 gt Change of state 2140 MEMOBUS 2150 MEMOBUS 2155 lt 1 gt PDO 2160 MEMOBUS 2180 lt 1 gt 2190 lt 1 gt 1 21A0 lt 1 gt 21B0 lt 1 gt H 21C0 lt 1 gt H fF ul mu Xa Xa Xa Xa Xa Hu 21D0 lt 1 gt H Hu 21E0 lt 1 gt H 21F0 lt 1 gt 2200 lt 2 gt fF ul 2201 lt 1 gt Change of state lt 2 gt lt 1 gt 3102
25. 1 2 CN5 CN5 A CR Es 2 3 ERROORUN E N A CN5 G B H FE C 1 CN5 A D J CN5 B E LED K CN5 C F 5 TOBP C730600 45B 1000 SL S3 15 5 3
26. LED 3 LED LED Blink Single Flash Flicker lt 1 gt ER Blink Single Flash CAN Double Flash E Flicker lt 1 gt IL lt 1 gt 3102 10 TOBP C730600 45B 1000 SL S3 4 LED 2 Blink 200 ms Single flash Double flash Flicker 50 ms RUN ERR RUN ERR ERR RUN 2 LED TOBP C730600 45B 1000 SL S3 11 5 5
27. 12 6 17 7 Node 20 8 22 9 28 10 LL 32 1 1 CANopen TOBPC73060045 0 CANopen SIJPC73060045 0 RU mechatronics com
28. 460 0012 TEL 06 6378 6526 06 6378 6533 FAX 06 6378 6531 7 10 37 566 0001 TEL 093 663 5105 098 663 5108 FAX 098 288 4432 2 3 805 0058 YASKAWA P TOBP C730600 45B 2010 12 08 7 0 10 10 3
29. Reset Node NMT 81h xxh 30 Reset Node Reset Node Store Parameter 1010 Hex TOBP C730600 45B 1000 SI S3 H2 10 H Fe 35 CALL 1 LL 2 0 0 2 1 EE
30. A TOBP C730600 45B 1000 SI S3 33 10 A GS 5 ES 34 TOBP C730600 45B 1000 SL S3 10 o
31. TOBP C730600 45A 2010 4 08 7 Node DS 301 PE1 TOBP C730600 45B 1000 SL S3 35 1000 CANopen YASKAWA TEL 0120 114 616 rx 0120 114 537 9 00 12 00 13 00 17 00 FAX 24 URL http www yaskawa co jp TEL 03 5402 4503 FAX 08 5402 4508 1 16 1 8 105 6891 TEL 052 581 2251 FAX 052 581 2274 3 25 9 9 F450 0002
32. 1415 Subindex 2 6049 sub2 1615 Subindex 1 604A sub1 1416 Subindex 2 604A sub2 1616 Subindex 1 604C sub1 1617 Subindex 2 604C sub2 1423 Subindex 1 2000 1623 1424 Subindex 1 2010 1624 1425 Subindex 1 2020 1625 1426 Subindex 1 2030 1626 1427 Subindex 1 2040 sub1 1627 1428 Subindex 1 2050 sub1 1628 1 1417 HH 0 10 0 0 26 TOBP C730600 45B 1000 SI S3 8 PDO TxPDO PDO PDO Mapping COB ID Hex Hex Hex 180 Node 1800 Subindex 1 6041 1A00 280 Node 1801 UDIMdex 1A01 Subindex 1 6041 1805 Subindex 2 6044 Subindex 1 6041 1806 Subindex 2 60FD 1814 Subindex 1 6042 1A14 1815 Subindex 1 6043 1A15 Subindex 1 6048 sub1 1816 Subindex 2 6048 sub2 1A16 Subindex 1 6049 sub1 1817 Subindex 2
33. TEL 06 6346 4512 FAX 06 6346 4556 2 4 27 4 530 0003 TEL 092 714 5906 FAX 092 761 5136 4 1 1 7 7 810 0001 http www e mechatronics com URL http www yaskawa control co jp TEL 03 3263 5611 FAX 03 3263 5625 1 3 2 6 102 0072 TEL 06 6337 8102 FAX 06 6337 4513 12 24 2 564 0051 TEL 0930 24 8630 FAX 0930 24 8637 2 13 1 824 8511 TEL 0120 854388 9 00 12 00 13 00 17 00 URL http www yaskawa eng co jp top html TEL 04 2931 1819 04 2931 1818 FAX 04 2931 1811 142 3 358 0055 TEL 052 331 5318 052 331 5380 FAX 052 331 5374 4 1 6
34. RD 2 min 1 o1 10 o1 11 oN RS Op lt 1 gt CANopen CANopen b1 02 3 b1 01 3 lt 2 gt lt 3 gt DSP402 lt 4 gt 3 3M lt 5 gt A1 02 E 3 RG 6 a PG 7 PM G d5 01
35. 28 0 1 2 MEMOBUS 3 1 1 2 48 bUS a bUS 0 C1 02 1 2 C1 09 3 lt 4 gt EF0 EF0 EF0 EF0 H 0 1 2 3 lt 4 gt 1
36. YASKAWA YASKAWA AC Drive 1000 Series Option CANopen Installation Manual Type SI S3 To properly use the product read this manual thoroughly and retain for easy reference inspection and maintenance Ensure the end user receives this manual 1000 CANopen SI S3 MANUAL NO TOBP C730600 45B Copyright 2008 2 TOBP C730600 45B 1000 SL S3 TOBP C730600 45B 1000 SL S3 1 4 2 7 3 LL 8 4 9 5
37. f d5 01 0 d5 01 1 7 PM PG lt 6 gt F6 06 1 PLC lt 7 gt lt 8 gt Node ERR LED AEr lt 9 gt 3102 UN sb 3101 Me 18 TOBP C730600 45B 1000
38. 1016 Consumer heartbeat time 1017 Producer heartbeat time 1018 Identity object 22 TOBP C730600 45B 1000 SL S3 8 DS 301 Hex 2000 2010 2020 2030 2040 MEMOBUS 2050 MEMOBUS 2060 MEMOBUS 2070 MEMOBUS 2080 lt 1 gt FE 2090 lt 1 gt H TE 20A0 lt 1 gt H FE 20B0 lt 1 gt QH 20C0 lt 1 gt H 3000 lt 1 gt QH 3100 lt 1 gt H TOBP C730600 45B 1000 SLI S3 23 8 Hex 2100 2101 lt 1 gt
39. 6049 sub2 1A17 Subindex 1 604A sub1 1818 Subindex 2 604A sub2 1A18 Subindex 1 604C sub1 1819 Subindex 2 604C sub2 1A19 1823 Subindex 1 2100 1A23 1824 Subindex 1 2110 1A24 1825 Subindex 1 2120 1A25 1826 Subindex 1 2130 1A26 1827 Subindex 1 2140 sub1 1A27 1828 Subindex 1 2150 sub1 1A28 1A05 1A06 1 TOBP C730600 45B 1000 SL S3 27 9 9 CANopen bUS EFO A 2 9
40. SL S3 6 lt 10 gt CIMR AC A S1015 0 2 6 lt 11 gt o1 03 e010 Hex Hex 00 Hex TOBP C730600 45B 1000 SI S3 2110 19 7 Node 7 Node F6 36
41. ck stop 604C vl dimension factor 604D vl pole number lt 1 gt lt 2 gt TOBP C730600 45B 1000 SLI S3 25 8 PDO Mapping PDO 15 PDO 16 PDO PDO PDO Mapping PDO RxPDO PDO PDO Mapping COB ID Hex Hex Hex 200 Node 1400 Subindex 1 6040 1600 Subindex 1 6040 300 Node 1401 Subindex 2 6060 1601 Subindex 1 6040 1405 Subindex 2 6042 1605 Subindex 1 6040 1406 Subindex 2 60FE sub1 1606 6 Subindex 1 6040 1407 Subindex 2 6060 1607 1 Subindex 1 6048 sub1 144 Subindex 2 6048 sub2 1614 Subindex 1 6049 sub1
42. ode F6 35 1 126 Node Node 0 ERR LED AEr TOBP C730600 45B 1000 SI S3 21 8 8 DS 301 Hex 1000 Device type 1001 Error register 1003 Pre defined error field 1005 COB ID SYNC message 1008 Manufacturer device name 1009 Manufacturer hardware version 100A Manufacturer software version 100C Guard time 100D Life time factor 100E Node guarding identifier 1010 Store parameters 1011 Restore default parameters 1014 COB ID emergency object
43. ps 10 C 50 C 95 RH 20 C 60 C 1000 m 32 TOBP C730600 45B 1000 SL S3 10 1 18 gt gt
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