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CANopen Data Communication Protocol

4 CANopen Data Communication

Protocol

4.1 CANopen Communication Protocol

4.1.1 CAN-ID

The G100 CANopen communication module supports only the CAN2.0A (Standard)
protocol.

The CAN2.0A protocol uses 11Bit IDs.

The figure below shows the configuration of the ID.

The table below presents the Broadcast Function codes.

COB

Function code

Resulting CAN-IDs

NMT

0000b

0 (0x000)

SYNC

0001b

128 (0x080)

TIME

0010b

256 (0x100)

Note) Communication Object (COB) is a part of the CAN Message Frame which shows the

unit of transmission on a CAN Network.

The table below presents the function codes for a peer-to-peer connection.

COB

Function code

Resulting CAN-IDs

EMCY

0001b

129(0x81)~255(0xFF)

PDO1 (tx)

0011b

385(0x181)~511(0x1FF)

PDO1 (rx)

0100b

513(0x201)~639(0x27F)

PDO3 (tx)

0111b

897(0x381)~1023(0x3FF)

PDO3 (rx)

1000b

1025(0x401)~1151(0x47F)

SDO (tx)

1011b

1409(0x581)~1535(0x5FF)

SDO (rx)

1100b

1537(0x601)~1663(0x67F)

Summary of Contents for CANopen LSLV-G100 Series

Page 1: ......

Page 2: ...Before using the product Thank you for using the G100 Series CANopen communication module ...

Page 3: ... electric shock may be present Keep the operating instructions handy for quick reference Read the operating instructions carefully to fully understand the functions of the G100 series CANopen communication module and use it properly Be careful not to damage the CMOS elements on the communication module Static charge may cause malfunctioning of the product Turn off the inverter before connecting co...

Page 4: ...vice Status and LED indicators 11 3 1 LED Indicators 11 3 2 Device Status by Indicator Signals 11 4 CANopen Data Communication Protocol 14 4 1 CANopen Communication Protocol 14 4 1 1 CAN ID 14 4 1 2 SDO Communication 15 4 1 3 PDO Communication 15 4 2 Network Management NMT State Machine 17 4 2 1 NMT State Initialization 19 4 2 2 NMT State Pre operational 19 4 2 3 NMT State Operational 19 4 2 4 NMT...

Page 5: ...42 7 2 Basic Field Bus Parameters 44 7 2 1 Set Command Source for the Inverter Cmd Source drv 44 7 2 2 Set Frequency Command Source for the Inverter Freq Ref Src Frq 44 7 2 3 Set Station ID Fbus ID CM 07 44 7 2 4 View Indicator LED States Fbus Led CM 9 45 7 2 5 Run Comm Update CM 94 45 7 2 6 Set the Network Speed Baud Rate Opt Parameter1 CM 10 46 7 2 7 Set Profile Opt Parameter2 CM 11 46 7 2 8 Vie...

Page 6: ... can be performed via a PLC sequence program or a master device Because multiple inverters can be operated with one communication cable this reduces the total installation cost In addition installation time is reduced and easy maintenance is made available because installation and routing of cables has become simpler Factory automation can also be easily implemented by linking various auxiliary de...

Page 7: ...s 800 kbps 1 Mbps Max Number of Nodes 64 Nodes including the master node When 1 master device is connected to the network the maximum number of inverter nodes is 63 64 1 Device Type AC Drive Supported Communication Types Process Data Object PDO Service Data Object SDO Synchronization Sync Network Management NMT Terminal Resistor 120 ohm 1 4W Built in Available PDO PDO1 CiA 402 Drive and Motion Con...

Page 8: ...CANopen Communication Module 3 2 2 CANopen Communication Module Layout ...

Page 9: ...lot on the inverter 5 Install the fixing bolt provided with the communication module using an appropriate tool 6 The CANopen communication module has been installed on the G100 Inverter Do not install or remove the communication module to or from the G100 inverter while the inverter is turned on Install or remove the communication module to or from the G100 inverter only after the electric charge ...

Page 10: ... shielded cable The ground cable is not included in the product package 1 Remove the front cover from the communication module 2 Fix the ground cable to the communication module using the bottom screw on the circuit board 3 Remove the knockout panel with the grounding symbol from the front cover 4 Install the front cover to the communication module ...

Page 11: ...케이블 의 케이블 접지를 사용할 경우에 아래와 같이 연결 합니다 접지 와이어는 별도로 제공하지 않습니다 No Signal Description 1 GND CAN Ground 2 CAN_L CAN_L Bus Line Dominant Low 3 SLD CAN Shield 4 CAN_H CAN_H Bus Line Dominant High 5 Reserved The PHOENIX STLZ950 5F 5 08 H GREEN connector is used for cable connections 5 pin connector ...

Page 12: ...capacitor inside the inverter is completely discharged To reduce signal noise the CANopen communication modules at both ends of the network must be terminated You can turn on the terminal resistor setting switch on the CANopen communication module to enable termination A resistance of 120 Ω 1 4W is applied between CAN_L and CAN_H terminals after the terminal resistance is switched on Termination S...

Page 13: ...CANopen Communication Module 8 When the termination resistor selection switch is set to the bottom Off Termination resistor is disabled ...

Page 14: ...CANopen Communication Module 9 When the termination resistor selection switch is set to the top On Termination resistor is enabled ...

Page 15: ...owing cable length limits The table below presents the guaranteed communication distance when 18 AWG DeviceNet cable is in use thick cable Baud Rate Bus Length Remark 1 Mbps 25 m 800 kbps 50m 500 kbps 100m 250 kbps 250m 125 kbps 500m 100 kbps 700m 50 kbps 1 000m 20 kbps 2 500m Note The G100 CANopen communication module does not support 10 kbps network speed Recommended cable AC parameters 120 Ω im...

Page 16: ...communication speed or profile setting different from the master device setting is used for the communication module 3 2 Device Status by Indicator Signals Indicator LED Signal Device Status Possible Cause Resolution CPU Kept Off No Power Power supply 5 V to the CANopen communication module failed Check if the inverter has been turned on Check power supply to the CANopen communication module Flash...

Page 17: ...e To maintain the parameter settings stored on the communication module set the parameter values again using the original setting values or turn off the inverter and turn it on again The parameter settings on the CANopen communication module are maintained while the ERR LED is flashing NODE Kept Off CANopen Not Initialized If the NODE LED has not yet turned on after the CANopen communication modul...

Page 18: ...er then turn it back on Flashes synchronou sly with the CPU LED CANopen Profile Setting Error The profile set on the CANopen master device differs from the profile setting on the communication module Check that the PDO settings and ensure that the same settings are used for the master device and the communication module Flashes at twice the interval of the CPU LED PDO Communica tion Not Connected ...

Page 19: ...nction code Resulting CAN IDs NMT 0000b 0 0x000 SYNC 0001b 128 0x080 TIME 0010b 256 0x100 Note Communication Object COB is a part of the CAN Message Frame which shows the unit of transmission on a CAN Network The table below presents the function codes for a peer to peer connection COB Function code Resulting CAN IDs EMCY 0001b 129 0x81 255 0xFF PDO1 tx 0011b 385 0x181 511 0x1FF PDO1 rx 0100b 513 ...

Page 20: ... writing of all the objects in the object directory 4 1 3 PDO Communication PDO communication is used to send and receive data requiring real time transmission real time data Data is transmitted without overhead or confirmation of the protocol index sub index and data Such features make PDO communication useful for IO communication PDO communication can be divided into two types depending on the t...

Page 21: ...cording to specific events Synchronous and Asynchronous Transmission Triggering modes There are three triggering modes to choose between when to transmitting TPDOs Event and timer driven The PDO frame is transmitted when the preset event time elapses Remotely requested The TPDO frame is transmitted when the remote transfer request RTR frame requesting a PDO transmission is received Synchronously t...

Page 22: ...T slave devices perform the NMT slave state machine The devices can be configured only in pre operational states The figure below presents the NMT state diagram of a CANopen device Initalization Reset Application Reset Communication Initalizing Pre operational Operational Stopped Powe ON 15 16 14 13 12 4 3 8 6 7 5 9 10 11 2 Perform initialization when inverter is stopped ...

Page 23: ... 8 The device enters a Stopped state when a Stop_Remote_Node command is received from the NMT master device 9 10 11 The device enters a Reset Application state when a Reset_Node command is received from the NMT master device 12 13 14 The device enters a Reset Communication state when a Reset_Communication command is received from the NMT master device 15 After the NMT Sub state Initialization is c...

Page 24: ...et The device notify the master device of its boot up via the NMT frame and automatically enters a Pre operational state 4 2 2 NMT State Pre operational Prior to PDO communication the master device transmits the PDO information to the slave device or reads the required data from the slave device via SDO communication This is the step for preparing PDO communication via SDO communication before sta...

Page 25: ... O X Node control and error control O O O 4 3 Error Control Protocols An error control protocol refers to a protocol that verifies the CANopen devices in the network for proper operation There are two types of error control protocols Node Life Guarding Protocol and Heartbeat Protocol 4 3 1 Node Life Guarding Protocol A Node Life Guarding protocol is used to monitor the CANopen devices in the netwo...

Page 26: ...rtbeat Producer device If the Heartbeat Producer device fails to send Heartbeat signal at the time intervals a Heartbeat Event occurs in the consumer device If the Heartbeat protocol is in use the G100 CANopen communication module operates as a Heartbeat Producer and informs the consumer device of its current NMT state at the preset intervals 4 4 CANopen EDS File The CANopen EDS file is a test fil...

Page 27: ...2 Consisting of two words the upper word indicates the Frequency Converter 0x01 and the lower word indicate the Drive Profile DSP402 0x0192 5 2 Error Register Error registers provide error related information for the communication module Index 0x1001 Data type UNSIGNED8 Sub index 0x00 Access RO Data Bit Information 0 Generic error 1 Current related trip current error 2 Voltage related trip voltage...

Page 28: ...p Generic error HW Diag Fuse Open External Trip BX Current related trip Current error Inverter Overload Trip Over Current1 Ground Trip Over Current2 Voltage related trip Voltage error In Phase Open Over Voltage Low Voltage Temperature related trip temperature error NTC Open Over Heat Manufacturer specific Ethermal Trip Out Phase Open Over Load Under Load Thermal Trip Pre PID Fail Lost Command ...

Page 29: ...e most recent emergency error Access RO Read only Data Value Description Value Description 0x0000 None 0x8402 OverSpeed 0x1000 UNDEFINED 0x8200 Protocol Error 0x2220 Inverter OLT 0x8210 PDO not processed due to length error 0x2310 OverCurrent1 0x8220 PDO length exceeded 0x2330 Ground Trip 0x9001 External Trip 0x2340 OverCurrent2 0x9002 BX 0x3130 In Phase Open 0x9003 Safety A Trip 0x3210 Over Volta...

Page 30: ...lows The G100 CANopen communication only receives SYNC and does not generate it Also they support only standard IDs Therefore both the gen and frame section must contain 0 Index 0x1005 Data type UNSIGNED32 Sub index 0x00 Access RW Data Read COB ID of the current SYNC setting Write Set up the COB ID of SYNC 5 5 Manufacturer Device Name Name information of the CANopen communication module Index 0x10...

Page 31: ...n the actual version of the hardware 5 7 Manufacturer Software Version Version data of the CANopen communication module software Index 0x100A Data type VISIBLE_STRING Text string Sub index 0x00 Access CONST Read only data Unchangeable Data Version 1 00 May vary depending on the actual version of the software 5 8 Guard Time This SDO sets the Guard Time when using the Node Guarding protocol as the E...

Page 32: ...to 0 when the Node Guarding protocol is not used 5 10 COB ID EMCY This SDO sets the CAN ID of the Emergency frame This SDO is read only and cannot be modified for the G100 CANopen communication module Index 0x1014 Data type UNSIGNED32 Sub index 0x00 Access RW Data NODEID 0x80 Node ID is the FBus ID currently set in the communication module 5 11 Producer Heartbeat Time This SDO indicates the interv...

Page 33: ...vice profile is in use NMT status Name Not ready to Switch On The hardware and Stack of the CANopen device are initialized in this state Switch on disable The current device state does not allow switching on of the device Ready to switch on Ready to change to the Switch on state any time Switch on Ready for enabling an operation Operation enable state A RUN command can be executed anytime Operatio...

Page 34: ...he motor has been running a free run stop will be performed 7 On receiving Disable voltage command None 8 On receiving the Shut Down command A free run stop is performed 9 On receiving Disable voltage command A free run stop is performed 10 On receiving Disable voltage or Quick Stop command A free run stop is performed 11 On receiving Quick Stop command Speed is reduced according to the decelerati...

Page 35: ...2220 Inverter OLT 0x8402 Over Speed 0x2310 OverCurrent1 0x9001 External Trip 0x2330 Ground Trip 0x9002 BX 0x2340 OverCurrent2 0xFF01 Ethermal 0x3130 In Phase Open 0xFF03 Out Phase Open 0x3210 Over Voltage 0xFF04 Over Load 0x3220 Low Voltage 0xFF05 Under Load 0x4000 NTC Open 0xFF06 Thermal Trip 0x4310 Over Heat 0xFF07 Pre PID Fail 0x5000 HW Diag 0xFF0A Lost Command 0x5450 Fuse Open Control Word Obj...

Page 36: ...ording to values of Bits 0 3 and Bit 7 For example the control word must be 0XxxxF xxxx xxxx xxxx 1111 to change the FSA state to Operation enabled in the table below for the transition 4 Command 7 3 2 1 0 RefertoChapter6 1 1 FSA Fault reset Enable operation Quick stopdisable Enable voltage Switch on Transformed value Status Shutdown O X 1 1 O 2 6 8 Ready to switch on Switch on O O 1 1 1 3 Switche...

Page 37: ...6041 This object indicates the current state of the current device Index Sub index Name Type Property Unit Range 0x6041 Status word U16 RO This object is not available if CM 11 Profile Sel is set to 1 LS Device Profile PDO3 The bit composition below presents the command by bits of the Status Word Bit Description 0 Ready to switch on 1 Switched on 2 Operation enabled 3 Fault Trip 4 Voltage enable 5...

Page 38: ...locity Object 0x6042 This object sets the target speed Index Sub index Name Type Property Unit Range 0x6042 0 Vl target velocity U16 RW rpm 30000 30000 Reverse Forward This object is not available if CM 11 Profile Sel is set to 1 LS Device Profile PDO3 vl Velocity Demand Object 0x6043 This object displays the output speed of the current inverter Index Sub index Name Type Property Unit Range 0x6043...

Page 39: ...CM 11 Profile Sel is set to 1 LS Device Profile PDO3 vl Velocity Acceleration Object 0x6048 This object sets the Acceleration Time As shown in the following figure this object determines the acceleration time with a combination of the Delta Speed and Delta Time The Delta Speed is fixed to the maximum speed to maintain a stable inverter operation Index Sub index Name Type Property Unit Range 0x6048...

Page 40: ...e this object determines the deceleration time with a combination of the Delta Speed and Delta Time The Delta Speed is fixed to the maximum speed to maintain stable inverter operation Index Sub index Name Type Property Unit Range 0x6049 VI velocity deceleration 0 Number of entries U8 RO 2 Delta Time U16 RO sec 0 0 600 0 ...

Page 41: ...ty Unit Range 0x604A VI velocity quick stop 0 Number of entries U8 RO 2 Delta Time U16 RW sec 0 0 600 0 6 1 3 SDO for G100 Inverter Operation Common Area SDO Address Inverter Monitoring Area The inverter monitoring area refers to the read only common area parameters between the communication addresses 0h300 0h37F In CANopen communication the index value is 0x4000 and the sub index value is communi...

Page 42: ...parameter to utilize a memory control area address ensure that the previous setting value is 0 If the setting value is not 0 you must set it to 0 first then change the value again before the change can take effect The parameter setting change will not take effect if you change a parameter value that is not 0 to a value other than 0 Ex If the parameter to save the data at 0h03E0 index 0x4002 sub in...

Page 43: ...s Transmission Type Value Description 0 Transmits an RPDO when a synchronous transaction occurs The RPDO is transmitted only if the current RPDO data has changed from the previous RPDO data COS Change of state 1 240 Transmits an RPDO when the set number of synchronous transactions are received 252 253 Not Supported 255 Transmits an RPDO by asynchronous event triggered transmissions RPDO3 Parameter...

Page 44: ...600 Index Sub index Name Type Property Unit Range 0x1600 1 PDO Mapping Entry1 0x6040 Control word U32 RO 2 PDO Mapping Entry2 0x6042 Vl Target Velocity U32 RO RPDO3 Mapping 0x1602 Index Sub index Name Type Property Unit Range 0x1602 1 Input1 0x3010 U32 RW 2 Input1 0x3011 U32 RW 3 Input1 0x3012 U32 RW 4 Input1 0x3013 U32 RW ...

Page 45: ...very Event Time TPDO3 Parameter 0x1802 Index Sub index 이름 Type 속성 단위 범위 0x1802 0 TPDO3 Parameter U8 RO 1 COB ID U32 RW 2 Transmission Type U8 RW 3 Inhibit Time U16 RW 5 Event Timer U16 RW A COB ID is the unique CAN ID value of the PDO The transmission type for the G100 CANopen communication is fixed as 255 0xFF Asynchronous The TPDO is transmitted by the event trigger operation The TPDO is transmi...

Page 46: ...1A00 Index Sub index Name Type Property Unit Range 0x1A00 1 PDO Mapping Entry1 0x6041 Status word U32 RO 2 PDO Mapping Entry2 0x6044 Vl Control Effort U32 RO TPDO3 Mapping 0x1A02 Index Sub index Name Type Property Unit Range 0x1A02 1 Input1 0x3010 U32 RW 2 Input1 0x3011 U32 RW 3 Input1 0x3012 U32 RW 4 Input1 0x3013 U32 RW ...

Page 47: ...ource 0 Fx Rx 1 0 Keypad 1 Fx Rx 1 2 Fx Rx 2 3 RS485 4 FieldBus Frq Freq Ref Src 0 Keypad 1 0 Keypad 1 1 Keypad 2 2 V1 3 Reserved 4 V0 5 I2 6 Int 485 7 Reserved 8 Fieldbus CM 06 FBus S W Ver CM 07 FBus ID 1 1 127 CM 09 FBus LED CM 10 Opt Parameter1 0 0 1Mbps 1 800Kbps 2 500Kbps 3 250Kbps 4 125Kbps 5 100Kbps 6 50Kbps 7 20Kbps ...

Page 48: ...33 Para Status 3 0x000F 0 0xFFFF CM 34 Para Status 4 0x0000 0 0xFFFF CM 51 Para Control 1 0x0005 0 0xFFFF CM 52 Para Control 2 0x0006 0 0xFFFF CM 53 Para Control 3 0x0000 0 0xFFFF CM 54 Para Control 4 0x0000 0 0xFFFF CM 94 Comm Update 0 None 0 No 1 Yes Pr 12 Lost Cmd Mode 0 None 0 None 1 Free Run 2 Dec 3 Hold Input 4 Hold Output 5 Lost Preset Pr 13 Lost Cmd Time 1 0 sec 0 1 120 0 sec Pr 14 Lost Pr...

Page 49: ...ef Src to 8 Fieldbus to send the command frequency for the inverter operation via the CANopen network communication 7 2 3 Set Station ID Fbus ID CM 07 CM 07 FBus ID CM 94 Comm Update This parameter sets the Station ID for a CANopen network The station number can be set to a number between 1 127 The station ID cannot be duplicated Ensure the station ID you will be using is not already occupied by a...

Page 50: ...D indicators are displayed in the order of BUS NODE ERR and CPU from left to right CM 9 Fbus LED Status Ex 1101 LED BUS GREEN NODE GREEN ERR RED CPU GREEN Status ON ON OFF ON Keypad Segment 7 2 5 Run Comm Update CM 94 CM 07 Station ID CM 10 Baud rate CM 11 Profile Sel CM 94 Comm Update After making changes to the station ID baud rate or the profile settings the CM 94 Comm Update parameter must be ...

Page 51: ...s to the CM 10 Baud rate setting the ERR LED on the CANopen communication module will flash at twice the interval of the CPU LED Because a CANopen related parameter has been changed you must run a communication update Comm Update to apply the changed network speed to the CANopen communication module The CM 94 Comm Update parameter must be set to 1 Yes before the new network speed baud rate can be ...

Page 52: ...ration time and dEC deceleration time values cannot be set using the Keypad They can be set only via addresses 0x6048 VI velocity acceleration and 0x6049 VI velocity deceleration Addresses 0x6040 through 0x6048 will not be available for use if CM 11 Profile Sel is set to 1 LS Device Profile PDO3 7 2 8 View Communication Module Version Fbus S W ver CM 06 This parameter displays the version of the C...

Page 53: ... Source Frq Freq Ref Src Pr 12 Lost Cmd Mode Pr 13 Lost Cmd Time Pr 14 Lost Preset F The Lost CMD Mode Pr 12 parameter is used to decide the operation mode of the inverter when a lost command occurs due to a PDO communication loss which exceeds the time set as the lost command decision time To utilize the lost command operation the drv parameter must be set to 4 Fieldbus or the Frq parameter must ...

Page 54: ...t Cmd Mode Pr 13 Lost Cmd Time The inverter decides that the communication command is lost If the PDO communication loss lasts longer than the communication command loss decision time To utilize the lost command operation the drv parameter must be set to 4 Fieldbus or the Frq parameter must be set to 8 Fieldbus The lost command operation will not be performed If the communication is resumed within...

Page 55: ... Period Customer Information Name or company Address Contact Info Sales Office Distributor Name or company Address Contact Info Warranty Service Information Warranty period is 12 months after installation or 18 months after manufactured when the installation date is unidentified However the guarantee term may vary on the sales term IN WARRANTY service information If the defective part has been ide...

Page 56: ...by abnormal voltage and peripheral devices malfunction failure Damage was caused by an earthquake fire flooding lightning or other natural calamities When LS nameplate is not attached When the warranty period has expired Visit Our Website Visit us at https www lselectric co kr for detailed service information Manual Revision History Revision History No Date Edition Changes 1 2020 01 V1 0 First rel...

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