Mitsubishi Electric FR-A7NCA Instruction Manual Download Page 94

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OBJECT DICTIONARY

8.2.15 (Index 1600h to 17FFh) Recive PDO Mapping

<Detail>
Perform a mapping of Receive PDO.

Sub Index

Item

Description

00h

Name

Number of mapped application objects in PDO

Data type

UNSIGNED8 (8 bit unsigned)

Default value



Unit



Access attribute

Read Only

Availability of mapping to PDO Disable

01h to 40h

Name

PDO mapping for the nth application object to be mapped

Data type

UNSIGNED32 (32 bit unsigned)

Default value

Refer to page 40

Unit



Access attribute

Read Only

Availability of mapping to PDO Disable

A7NCA.book 86 ページ２００６年７月３日　月曜日　午前９時４８分

Summary of Contents for FR-A7NCA

Page 1: ...8 9 1 FR A7NCA communication function INSTALLATION WIRING INVERTER SETTING IB NA 0600259ENG A 0606 MEE Printed in Japan Specifications subject to change without notice SERVICE CANopen DEFINITIONS FUNCTIONS TROUBLESHOOTING PRE OPERATION INSTRUCTIONS OBJECT DICTIONARY A7NCA book 1 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 2: ...s of both levels because they are important to personnel safety WARNING CAUTION CAUTION SAFETY INSTRUCTIONS WARNING While power is on or when the inverter is running do not open the front cover You may get an electric shock Do not run the inverter with the front cover or wiring cover removed Otherwise you may access the exposed high voltage terminals and charging part and get an electric shock If ...

Page 3: ...metal fragments or other flammable substance such as oil from entering the inverter CAUTION Before starting operation confirm and adjust the parameters A failure to do so may cause some machines to make unexpected motions WARNING Do not modify the equipment Do not perform parts removal which is not instructed in this manual Doing so may lead to fault or damage of the inverter CAUTION When paramete...

Page 4: ...3 Specifications 6 2 INSTALLATION 7 2 1 Pre Installation Instructions 7 2 2 Installation of the Communication Option LED Display Cover 7 2 3 Installation Procedure 8 2 4 Node Address Setting 10 3 WIRING 11 3 1 Connection to Network 11 3 2 Wiring 12 4 INVERTER SETTING 14 4 1 Parameter List 14 4 2 Parameter for CANopen communication 15 A7NCA book I ページ２００６年７月３日月曜日午前９時４８分 ...

Page 5: ...peration at Communication Error Occurrence 26 4 5 1 Operation selection at communication error occurrence Pr 500 to Pr 502 26 4 5 2 Alarm and measures 30 4 6 Inverter Reset 32 4 7 Frequency and Speed Conversion Specifications 34 5 FUNCTIONS 35 5 1 Output from the Inverter to the Network 35 5 2 Input to the Inverter from the Network 35 6 CANopen DEFINITIONS 36 6 1 Communication method 36 6 2 Messag...

Page 6: ...and Sampling 54 7 3 2 Bus Synchronization and Actual 56 7 4 Emergency object 58 7 5 Network Management object NMT 60 7 5 1 Status transition of NMT state 60 7 5 2 Status transition matrix of NMT state 61 7 5 3 Module Control Service 62 7 5 4 Error Control Service 63 8 OBJECT DICTIONARY 67 8 1 Object List 67 8 2 Object Detail of Communication Profile Area 71 8 2 1 Index 1000h Device Type 71 8 2 2 I...

Page 7: ...DO Mapping 86 8 2 16 Index 1800h to 19FFh Transmit PDO Parameters 87 8 2 17 Index 1A00 to 1BFFh Transmit PDO Parameters 90 8 3 Object Detail of Manufacturer Specific Area 91 8 3 1 Index 2000h to 2063h Monitor of the inverter 91 8 3 2 Index 2106h Alarm clear 94 8 3 3 Index 2107h Inverter reset 94 8 3 4 Index 2108h Parameter Clear 95 8 3 5 Index 2109h Operation Mode 96 8 3 6 Index 3000h to 3385h 33A...

Page 8: ...14 8 4 3 Index 6042h vl_target_velocity 116 8 4 4 Index 6043h vl_velocity_demand 116 8 4 5 Index 6044h vl_control_effort 117 8 4 6 Index 6046h vl_velocity_min_max_amount 118 8 4 7 Index 6048h vl_velocity_acceleration 120 8 4 8 Index 6049h vl_velocity_deceleration 123 8 4 9 Index 604Ah vl_velocity_quick_stop 125 8 4 10 Index 605Ah Quick_stop_option_code 127 8 4 11 Index 6060h modes_of_operation 128...

Page 9: ...r package and check that the first three digits of the SERIAL number is the number in the table next page z SERIAL number check 1 For the FR A740 00023 to 00620 EC Refer to the inverter manual for the position of the rating plate Rating plate example 6 7 Symbol Year Month Control number SERIAL Serial No The SERIAL consists of 1 version symbol 2 numeric characters or 1 numeric character and 1 alpha...

Page 10: ...he first three digits FR A740 00023 to 00620 EC E67 or later FR A740 00770 to 12120 EC D67 or later V U W FR CA70 EC 67 SERIAL Control unit type SERIAL Serial No Month Serial number sticker example The SERIAL consists of 1 version symbol 2 numeric characters or 1 numeric character and 1 alphabet letter indicating year and month and 3 numeric characters indicating control number Month is indicated ...

Page 11: ...o page 8 Hex head screw for option mounting 5 5mm 1 Refer to page 8 Communication option LED display cover 1 Refer to page 7 Terminal block 1 Refer to page 12 CANopen is a registered trademark of CiA CAN in Automation X16 X1 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 1 2 3 4 5 6 7 8 9 A B C D E F 5 5mm A7NCA book 3 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 12: ...the inverter option connector Switch for manufacturer setting Do not change from initially set status 1 2 OFF Node address switch Set the node address Mounting hole Connector for communication Mount the accessory terminal block to connect to the network FR A7NCA STATUS LED Mounting hole Switch for manufacturer setting Do not change from initially set status OFF 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 1 ...

Page 13: ...n RUN Single flash STOPPED The network status of the device is Stopped Blinking PRE OPERATIONAL The network status of the device is Pre Operational On OPERATIONAL The network status of the device is Operational Red ERR Single flash Warning A network error such as a communication frame error has occured and a warning was given from a CAN chip error passive status Double flash Error control event oc...

Page 14: ...e 25m 1M to 2500m 10k Number of node 127 Communication method PeerToPeer broad cast EDS file With Item Description NMT Slave Error Control Node Guarding Heartbeat either can be selected at configuration Node ID setting Switch parameter Number of PDO RPDO 3 TPDO 3 PDO mode Event Driven Timer Driven Sync Remote Request PDO Linking Possible PDO Mapping Impossible Static Emergency message With Applica...

Page 15: ...d plug in option may be damaged CAUTION Take care not to hurt your hand and such with portions left by cutting hooks of the rear of the front cover 1 Cut off hooks on the rear of the inverter front cover with nipper etc and open a window for fitting the LED display cover 2 Fit the communication option LED display cover to the front of the inverter front cover and push it into until fixed with hook...

Page 16: ...curely fix the both right and left sides of the plug in option to the inverter with the accessory mounting screws If the screw holes do not line up the connector may not have been plugged snugly Check for loose plugging REMARKS After removing two screws on the right and left places remove the plug in option 4 Mounting screws Inverter side option connector Screw hole for option mounting Screw hole ...

Page 17: ...not recognize that the option is mounted due to improper installation etc option alarm is displayed even if the option is fitted in the option connector 3 Take care not to drop a hex head screw for option mounting or mounting screw during mounting and removal Pull out the option straight to remove Otherwise the connector may be damaged by some applied force Mounting Position Error Display Connecto...

Page 18: ... parameter makes the node address switch setting invalid The setting is reflected at the next power on or inverter reset Refer to page 15 Node address 1 Set the of SW1 to 0 and the of SW2 to 1 Node address 127 Set the of SW1 to 7 and the of SW2 to F CAUTION 1 Set the node address switch to the switch number position correctly If the switch is set between numbers normal data communication can not b...

Page 19: ...requirements 3 Connect drop cables to the trank cable If the trunk connector is a CANopen sanctioned pluggable or sealed connector the connection to the active network can be made at any time whether the inverter is on or off The option unit automatically detects when the connection is completed If connecting to the network with free wires power to the network and inverter should be shut off as a ...

Page 20: ...ightening torque 4 Connect the terminal block to the connector for communication of the communication option mounted on the inverter Screw Size Tightening Torque Cable Size Screwdriver M3 0 5N m to 0 6N m 0 3mm2 to 0 75mm2 Small flat blade screwdriver Tip thickness 0 4mm tip width 2 5mm CAUTION Undertightening can cause cable disconnection or malfunction Overtightening can cause a short circuit or...

Page 21: ...ff for wiring the protective structure JEM1030 changes to open type IP00 When performing wiring using the space between the inverter front cover and control circuit terminal block take care not to subject the cable to stress After wiring wire offcuts must not be left in the inverter They may cause an error failure or malfunction 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6...

Page 22: ...and source 0 1 1 0 21 339 Communication speed command source 0 1 2 1 0 21 340 Communication startup mode selection 0 1 2 10 12 1 0 18 342 Communication EEPROM write selection 0 1 1 0 25 347 CANopen address 0 to 4095 1 0 15 348 CANopen baud rate 0 to 4095 1 4 16 349 Communication reset selection 0 1 1 0 33 500 Communication error recognition waiting time 0 to 999 8s 0 1s 0 26 501 Communication erro...

Page 23: ...5 1 0 Bit Item Initial Value Setting Range Definition 0 to 6 Node Address 0 0 to 127 Node Address of device is set between 1 to 127 Set 0 initial value to set node address with node address switch 12 to 15 Address Key 0 0 Set 0 always When a value other than 0 is set the inverter operates as when 0 initial value is set in Pr 345 Pr 347 setting Node Address Switch Node Address 0 0 127 1 to 127 7Fh ...

Page 24: ...to 3 Baud Rate 4 0 1Mbps 1 800kbps 2 500kbps 3 250kbps 4 125kbps Initial value 5 Setting can not be made operates as when an initial value is set 6 50kbps 7 20kbps 8 10kbps 9 to 15 Setting can not be made operates as when an initial value is set 12 to 15 Baud Rate Key 0 0 Set 0 always When a value other than 0 is set the inverter operates as when 0 initial value is set in Pr 348 0 1 2 3 4 5 6 7 8 ...

Page 25: ...actory set to this mode 3 Network operation NET Controls the inverter with instructions from the network via the communication option The operation signal and running frequency can be entered from the control circuit terminals depending on the Pr 338 Communication operation command source and Pr 339 Communication speed command source setting Refer to page 22 4 3 1 Operation mode indication FR DU07...

Page 26: ...d for details of Pr 79 2 Operation mode selection at power on and at restoration from instantaneous power failure The operation mode at power on and at restoration from instantaneous power failure can be selected Set a value other than 0 in Pr 340 to select the network operation mode After started in network operation mode parameter write from the network is enabled REMARKS 1 Change of the Pr 340 ...

Page 27: ...NET operation mode X12 MRS signal OFF external operation mode 10 12 2 0 NET operation mode Switching between the PU and NET operation mode is enabled 3 1 PU operation mode Same as when Pr 340 0 2 NET operation mode NET operation mode fixed 3 4 External PU combined operation mode Same as when Pr 340 0 6 NET operation mode Switching between the PU and NET operation mode is enabled while running 3 7 ...

Page 28: ...en setting a value other than 0 in Pr 340 make sure that the initial settings of the inverter are correct Switching from the network Switch to the network operation mode from the network Press of the PU to light Switch to the external operation mode from the network External operation Switching from the PU Press of the PU to light Press of of the PU to light Network operation PU operation Press of...

Page 29: ...etails Parameter Number Name Initial Value Setting Range Description 550 NET mode operation command source selection 9999 0 Control source of the communication option is valid control source of the inverter RS 485 terminal is invalid 1 Control source of the inverter RS 485 terminal is valid control source of the communication option is invalid 9999 Automatic recognition of the communication option...

Page 30: ...nication NET NET NET NET Terminal 2 External External Terminal 4 External External Terminal 1 Compensation Selective functions Pr 178 to Pr 189 settings 0 RL Low speed operation command remote setting clear NET External NET External Pr 59 0 multi speed Pr 59 1 2 remote 1 RM Middle speed operation command remote setting deceleration NET External NET External 2 RH High speed operation command remote...

Page 31: ...deceleration C switching terminal NET External 22 X22 Orientation command 1 NET External 23 LX Pre excitation NET External 24 MRS Output stop Combined External Pr 79 7 PU operation interlock External Pr 79 7 WhentheX12signal is not assigned 25 STOP Start self holding selection External 26 MC Control mode swichover NET External 27 TL Torque limit selection NET External 28 X28 Start time tuning NET ...

Page 32: ...ation command NET External 62 RES Reset External 63 PTC PTC thermistor selection External 64 X64 PID forward rotation action switchover NET External NET External 65 X65 PU NET operation switchover External 66 X66 NET external operation switchover External 67 X67 Command source switchover External 68 NP Conditional position pulse train sign 1 External 69 CLR Conditional position droop pulse clear 1...

Page 33: ...ite set will shorten the life of the EEPROM Parameter Number Name Initial Value Setting Range Description 342 Communication EEPROM write selection 0 0 Parameter values written by communication are written to the EEPROM and RAM 1 Parameter values written by communication are written to the RAM REMARKS When 1 write to RAM only is set in Pr 342 powering off the inverter will erase the changed paramet...

Page 34: ...set the waiting time from when a communication line error occurs until it is recognized as a communication error If the communication line error still persists after the time set in Pr 500 has elapsed it is recognized as a communication error When the error is restored to normal communication within the set time it is not regarded as a communication error and operation continues Parameter Number N...

Page 35: ...e Setting Range Minimum Setting Increments Initial Value 501 Communication error occurrence count display 0 1 0 CAUTION The communication error count occurrence is stored into RAM temporarily Since this data is stored in EEPROM at one hour intervals performing power on reset or inverter may cause the Pr 501 data to be the value stored in EEPROM the last time depending on the reset timing Normal Er...

Page 36: ... selection at communication error 0 1 2 3 1 0 Alarm Definition Pr 502 Setting Operation Indication Alarm Output Communication line 0 Continued Normal indication Not provided 1 2 3 Communication option itself 0 3 Coast to stop E 1 or E 3 lit Provided 1 2 Decelerated to stop E 1 or E 3 lit after stop Provided after stop Alarm Definition Pr 502 Setting Operation Indication Alarm Output Communication ...

Page 37: ...finition is written to the alarm history when an alarm output is provided When no alarm output is provided the error definition overwrites the alarm indication of the alarm history temporarily but is not stored After the error is removed the alarm indication is reset and returns to the ordinary monitor and the alarm history returns to the preceding alarm indication 4 When the Pr 502 setting is 1 o...

Page 38: ...verter trip depends on the Pr 502 setting Continued Continued Data communication Stop Stop Stop Communication option Communication option connection error Inverter operation Inverter trip depends on the Pr 502 setting Inverter trip depends on the Pr 502 setting Inverter trip depends on the Pr 502 setting Data communication Continued Continued Continued Error of communication option itself Inverter...

Page 39: ...ures E OP3 Communication line error Check the LED status of the option unit and remove the cause of the alarm Refer to page 5 for LED indication status Inspect the master E 1 E 2 E 3 Option alarm Check the connection between the inverter and option unit for poor contact etc and remove the cause of the error Fit the communication option in the option connector 3 A7NCA book 31 ページ２００６年７月３日月曜日午前９時...

Page 40: ...349 0 Allowed Allowed Allowed Pr 349 1 Disallowed Disallowed Turn on the terminal RES SD Enabled Enabled Enabled Switch off inverter power Enabled Enabled Enabled Reset from the PU DU Inverter reset Enabled Enabled Enabled Reset at inverter fault Enabled Enabled Enabled CAUTION 1 When a communication line error has occurred reset cannot be made from the network 2 The inverter is set to the externa...

Page 41: ...ork can be made invalid in the external operation mode or PU operation mode Index 6040h Refer to page 111 Parameter Number Name Initial Value Setting Range Function 349 Communication reset selection 0 0 Error reset is enabled independently of operation mode 1 Error reset is enabled only in the network operation mode A7NCA book 33 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 42: ...z Hz Machine speed 1 Hz 2 to 10 Hz Machine speed 3 Hz Machine speed 3 Machine speed 1 Hz Machine speed 3 102 to 110 Hz Hz r min 1 Hz 1 Motor speed r min conversion formula frequency 120 number of motor poles Pr 144 Machine speed conversion formula Pr 37 frequency Pr 505 Pr 505 is always set as frequency Hz For Pr 144 in the above formula the value is Pr 144 100 when 102 to 110 is set in Pr 144 and...

Page 43: ... output signal of the inverter 108 Alarm definition Monitor the alarm history of the inverter 99 REMARKS Refer to the inverter manual applied for functions controllable from the network in each operation mode Item Description Refer to Page Frequency setting Set the running frequency of the inverter 103 105 109 110 Operation mode write Set the operation mode of the inverter 96 Run command Set the c...

Page 44: ...a transmission SDO has features such as peer to peer communication and cor rect communication by response waiting and can handle a large amount of data Therefore it is used for set ting change and diagnosis of device Device model of CANopen communication is indicated below Refer to a CANopen standard material for details CANopen Protocol PDO SDO Error control NMT Object dictionary Index Descriptio...

Page 45: ...vice EMCY 80 From slave to master 180h Node ID 1st Transmit PDO Drive Profile TPDO1 45 From master to slave 200h Node ID 1st Receive PDO Drive Profile RPDO1 41 From slave to master 2nd Transmit PDO Drive Profile TPDO6 46 From master to slave 2nd Receive PDO Drive Profile RPDO6 42 From slave to master 3rd Transmit PDO Manufacture TPDO21 47 From master to slave 3rd Receive PDO Manufacture RPDO21 43 ...

Page 46: ...lect timing on the atcual speed or speed monitor after speed setting Request Response Within 2ms Speed command B Speed A Speed A Speed A Speed A Speed B Speed B Within 30ms Within 15ms Speed command Speed monitor Inverter Speed command B Speed command B Speed command B A7NCA book 38 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 47: ...spond until parameter clear processing complete about 5s after sending parameter all clear command 4 At inverter reset Inverter reset processing is executed after sending a response message Request Response Within 100ms Request Response Within 100ms Request Response Within 100ms A7NCA book 39 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 48: ...y pv controls the state machine and the target velocity pv 5 6040h 6071h control word target_torque controls the state machine and the target torque tq 6 6040h 6042h control word target_velocity vl controls the state machine and the nominal speed vl 2ndRPDO 7 6040h 60FEh control word digital_outputs controls the state machine and the digital outputs 8 6040h 6060h control word modes_of_operation co...

Page 49: ...tch On Index 6040h 00h control word Byte1 Byte2 blank Byte3 blank Byte4 blank Byte5 blank Byte6 blank Byte7 blank Index Sub Index Description Read Write Default 1400h 00h number of entries ro 2 01h COB ID used by PDO rw 200h Node ID 02h transmission type rw 255 1600h 00h number of mapped objects ro 1 01h control word ro 60400010h A7NCA book 41 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 50: ...0h 00h control word Byte1 Byte2 target_velocity vl L Index 6042h 00h target_velocity vl Byte3 target_velocity vl H Byte4 blank Byte5 blank Byte6 blank Byte7 blank Index Sub Index Description Read Write Default 1405h 00h number of entries ro 2 01h COB ID used by PDO rw 80000300h Node ID 02h transmission type rw 255 1605h 00h number of mapped objects ro 2 01h control word ro 60400010h 02h target_vel...

Page 51: ...RAM L Index 4012h 01h Set Frequency RAM Byte3 Set Frequency RAM H Byte4 blank Byte5 blank Byte6 blank Byte7 blank Index Sub Index Description Read Write Default 1414h 00h number of entries ro 2 01h COB ID used by PDO rw 80000400h Node ID 02h transmission type rw 255 1614h 00h number of mapped objects ro 2 01h Control input command ro 40100010h 02h Set Frequency RAM ro 40120110h A7NCA book 43 ページ２...

Page 52: ...l position pp 4 6041h 606Ch status word velocity_actual_value shows the status and the actual velocity pv 5 6041h 6077h status word torque_actual_value shows the status and the actual torque tq 6 6041h 6044h status word vl_control_effort shows the status and the actual speed vl 2ndTPDO 7 6041h 60FDh status word digital_inputs shows the status and the digital inputs 8 to 20 reserved 21 4011h 4013h ...

Page 53: ...Internal Limit Active Target Reached Remote Byte2 blank Byte3 blank Byte4 blank Byte5 blank Byte6 blank Byte7 blank Index Sub Index Description Read Write Default 1800h 00h number of entries ro 5 01h COB ID used by PDO rw 180h Node ID 02h transmission type rw 255 03h inhibit time rw 0 04h Reserved Without error response 05h event timer rw 0 1A00h 00h number of mapped objects ro 1 01h status word r...

Page 54: ...Active Target Reached Remote Byte2 vl_control_effort L Index 6044h 00h vl_control_effort Byte3 vl_control_effort H Byte4 blank Byte5 blank Byte6 blank Byte7 blank Index Sub Index Description Read Write Default 1805h 00h number of entries ro 5 01h COB ID used by PDO rw 80000280h Node ID 02h transmission type rw 255 03h inhibit time rw 0 04h Reserved Without error response 05h event timer rw 0 1A05h...

Page 55: ...equency L Index 4013h 01h Output frequency Byte3 Output frequency H Byte4 blank Byte5 blank Byte6 blank Byte7 blank Index Sub Index Description Read Write Default 1814h 00h number of entries ro 5 01h COB ID used by PDO rw 80000380h Node ID 02h transmission type rw 255 03h inhibit time rw 0 04h Reserved Without error response 05h event timer rw 0 1A14h 00h number of mapped objects ro 2 01h Inverter...

Page 56: ...t1 Bit0 Byte0 ccs 2 blank 0 Byte1 Index L Byte2 Index H Byte3 Sub Index Byte4 blank Byte5 blank Byte6 blank Byte7 blank Client PLC Initiate SDO Upload Server A7NCA 7 5 ccs 2 4 0 X m reserved 0 1 4 8 byte 7 5 ccs 2 4 X 3 2 n 1 e 0 s m d 0 1 4 8 request indication response confirm A7NCA book 48 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 57: ... Bit4 Bit3 Bit2 Bit1 Bit0 Byte0 scs 2 blank 0 n e s Byte1 Index L Byte2 Index H Byte3 Sub Index Byte4 Read data L Byte5 Read data ML Byte6 Read data MH Byte7 Read data H e s n Meaning 0 0 Invalid reservation 0 1 Invalid 4byte is read 1 0 Invalid Unspecified read data is included 1 1 Valid 4 n byte is read A7NCA book 49 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 58: ... s Byte1 Index L Byte2 Index H Byte3 Sub Index Byte4 Write data L Byte5 Write data ML Byte6 Write data MH Byte7 Write data H Client PLC Initiate SDO Download Server A7NCA 7 5 ccs 3 4 0 X m reserved 0 1 4 8 7 5 ccs 1 4 X 3 2 n 1 e 0 s m d 0 1 4 8 byte request indication response confirm A7NCA book 50 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 59: ...mat e s n Meaning 0 0 Invalid reservation 0 1 Invalid Write 4 byte 1 0 Invalid Unspecified read data is included 1 1 Valid Write 4 n byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Byte0 scs 3 blank 0 Byte1 Index L Byte2 Index H Byte3 Sub Index Byte4 blank Byte5 blank Byte6 blank Byte7 blank A7NCA book 51 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 60: ... Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Byte0 cs 4 blank 0 Byte1 Index L Byte2 Index H Byte3 Sub Index Byte4 Abort code L Byte5 Abort code ML Byte6 Abort code MH Byte7 Abort code H Client Server Abort SDO Transfer Server Client 7 5 cs 4 4 0 X m d 0 1 4 8 request indication A7NCA book 52 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 61: ...o an hardware error 0607 0010h Data type does not match length of service parameter does not match 0607 0012h Data type does not match length of service parameter too high 0607 0013h Data type does not match length of service parameter too low 0609 0011h Sub index does not exist 0609 0030h Value range of parameter exceeded only for write access 0609 0031h Value of parameter written too high 0609 0...

Page 62: ...PDO triggered by SYNC message periodically broadcasted 1 Concept Index Sub Index Name Unit Detail Reference page 1005h 00h COB ID SYNC message COB ID of SYNC message 74 Sensor A Out Buffer A Sensor B Out Buffer B Sensor N Out Buffer N SYNC SIGNAL Data N Data B Data A Serial transmission via CAN highest priority first In Data A In Data B In Data N Data Processing Unit A7NCA book 54 ページ２００６年７月３日月曜...

Page 63: ... in synchrnous TPDO object mapped in synchrnous TPDO communication cycle period synchronous window length Samples immediately taken at SYNC for objects mapped in synchronous TPDO request L 0 Indication Indication Indication SYNC Producer SYNC Consumers s Write SYNC A7NCA book 55 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 64: ...NC message SYNC SIGNAL periodically broadcasted 1 Concept Data N Data B Data A Serial transmission via CAN highest priority first Out Data A Out Data B Out Data N Data Processing Unit Actuator A Actuator B Actuator N In Buffer A In Buffer B In Buffer N SYNC SIGNAL A7NCA book 56 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 65: ...tion cycle period synchronous window length Actuation based objects mapped in last received synchronous RPDO at next SYNC Actuate on objects mapped in last received synchronous RPDO Actuate on objects mapped in last received synchronous RPDO request L 0 Indication Indication Indication SYNC Producer SYNC Consumers s Write SYNC A7NCA book 57 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 66: ...Bit4 Bit3 Bit2 Bit1 Bit0 Byte0 Emergency Error Code L Byte1 Emergency Error Code H Byte2 Error Register same description as Index1001h Byte3 blank 0 Byte4 blank 0 Byte5 blank 0 Byte6 blank 0 Byte7 blank 0 request Indication Indication Indication EMCY Producer EMCY Consumer Write EMCY Emergency Object Data 0 8 A7NCA book 58 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 67: ...5000 device hardware E OPT E OP3 5112 U2 supply 24V E P24 5114 U4 manufacturer specific E AIE 5400 power section E 13 5420 chopper E BE 5430 input stages E IOH 5530 EEPROM E PE E PE2 6010 software reset watchdog E 6 E 7 E CPU 6100 internal software E RET 6304 data record No 4 E 4 6305 data record No 5 E 5 6308 data record No 8 E 8 6309 data record No 9 E 9 630A data record No 10 E 10 630B data rec...

Page 68: ...ansit to Pre Operational 3 6 Receive Start Remote Node protocol and transit to Operational 4 7 Receive Enter Pre Operational protocol and transit to Pre Operational 5 8 Receive Stop Remote Node protocol and transit to Stopped 9 10 11 Receive Reset Node protocol and transit to Initialization 12 13 14 Receive Reset Communication protocol and transit to Initialization Initialisation Pre Operational O...

Page 69: ...NMT state The table below shows available services in each status Service usable Service name NMT State Initializing Pre Operational Operational Stopped Boot Up SDO Emergency SYNC TIME Heartbeat Nodeguard PDO A7NCA book 61 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 70: ...us to Stop 128 Enter Pre Operational Changes to NMT state node status to Pre Operation state 129 Reset Node Changes to NMT state node status to Initialization state Inverter reset 130 Reset Communication Switches NMT state to Pre Operation state Resets the option unit only Node ID Meaning 0 All nodes execute Module Control Service 1 to 127 Specified nodes execute Module Control Service request Ind...

Page 71: ...ime Node Guard Time ms Life Time Factor Index 100Dh request indication response confirm NMT Master NMT Slave s Node Life Guarding COB ID 1792 Node ID Remote transmit request 0 1 0 1 request indication indication indication COB ID 1792 Node ID Remote transmit request 7 t 6 0 s response Life Guarding Event Node Guarding Event confirm 7 t 6 0 s if guarding error During the Life Guarding Event Err LED...

Page 72: ...64 SERVICE response format Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Byte0 r 0 s 0 to 127 s Meaning NMT Status 4 Stopped 5 Operational 127 Pre Operational A7NCA book 64 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 73: ...indication indication indication indication Heatbeat Event indication indication Heartbeat Producer Heartbeat Consumer Write Heartbeat COB ID 1792 Node ID request 7 r 6 0 s Heartbeat Producer Time Heartbeat Consumer Time Heartbeat Consumer Time 0 1 7 r 6 0 s 0 1 A7NCA book 65 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 74: ...4 Bit3 Bit2 Bit1 Bit0 Byte0 r 0 s 0 to 127 s Meaning NMT Status 0 Bootup 4 Stopped 5 Operational 127 Pre Operational Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Byte0 700h Node ID request indication NMT Master NMT Slave Heartbeat Consumer s Bootup Event COB ID 1792 Node ID 0 0 1 indication s A7NCA book 66 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 75: ...heartbeat time UNSIGNED16 rw 81 1018h 00h Identity Object Identity 23h ro 82 1400h 00h 1st Receive PDO parameter PDO_COMMUNICATION_PARAMETER 0020h rw 84 1405h 00h 2nd Receive PDO parameter PDO_COMMUNICATION_PARAMETER 0020h rw 84 1414h 00h 3rd Receive PDO parameter PDO_COMMUNICATION_PARAMETER 0020h rw 84 1600h 00h 1st Receive PDO Mapping PDO_MAPPING 0021h ro 86 1605h 00h 2nd Receive PDO Mapping PDO...

Page 76: ...939 Number of entry record UNSIGNED8 ro 98 01h Offset Gain value UNSIGNED16 rw 98 02h Analog value UNSIGNED16 rw 98 33ACh to 33E7h 00h Parameter area Pr 940 to Pr 999 UNSIGNED16 rw 97 3400h 00h Alarm history 1 2 UNSIGNED16 rw 99 3401h 00h Alarm history 3 4 UNSIGNED16 ro 99 3402h 00h Alarm history 5 6 UNSIGNED16 ro 99 3403h 00h Alarm history 7 8 UNSIGNED16 ro 99 4000h 00h Control input command w In...

Page 77: ...eed EEPROM UNSIGNED16 wo 106 4010h 00h Control input command w UNSIGNED16 wo 107 4011h 00h Inverter status r UNSIGNED16 ro 108 4012h 00h Number of Entries UNSIGNED8 ro 109 01h Set frequency RAM w UNSIGNED16 wo 109 02h Set speed RAM w UNSIGNED16 wo 109 4013h 00h Number of Entries UNSIGNED8 ro 110 01h Output frequency r UNSIGNED16 ro 110 02h Running Speed r UNSIGNED16 ro 110 Index Sub Index Name Dat...

Page 78: ... 120 01h Delta_speed UNSIGNED32 rw 120 02h Delta_time UNSIGNED16 rw 120 6049h vl_velocity_deceleration vl_velocity_acceleration deceleration_record rw 123 01h Delta_speed UNSIGNED32 rw 123 02h Delta_time UNSIGNED16 rw 123 604Ah vl_velocity_quick_stop vl_velocity_acceleration deceleration_record rw 125 01h Delta_speed UNSIGNED32 rw 125 02h Delta_time UNSIGNED16 rw 125 605Ah 00h quick_stop_option_co...

Page 79: ...e Data type UNSIGNED32 32 bit unsigned Default value 00010192h Access attribute Read Only Availability of mapping to PDO Disable Bit Description REMARKS 0 to 15 Device Profile Number 0192h Drive Profile is 402 16 to 23 Additional Information Type 01h Frequency Converter 24 to 31 Additional Information mode bits 00h A7NCA book 71 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 80: ...0 external error 0xF000 additional functions of emergency error code and 0 when no error occurs 1 Current 1 when an error related to 0x2000 current of emergency error code occurs and 0 when no error occurs 2 Voltage 1 when an error related to 0x3000 voltage of emergency error code occurs and 0 when no error occurs 3 Temperature 1 when an error related to 0x4000 temperature of emergency error code ...

Page 81: ...ward rotation 2 During reverse rotation 0 Not reverse rotation 1 Reverse rotation 3 Up to running frequency SU signal 0 Not reached the running frequency 1 Reached the running frequency 4 Overload OL signal 0 Not overloaded 1 Overloaded 5 Instantaneous power failure IPF signal 0 Instantaneous power failure not occurred 1 Instantaneous power failure occurred 6 Frequency detection FU signal 0 Freque...

Page 82: ... COB ID of SYNC Object 11 to 28 Not used Always 0 29 Selection of COB ID length 0 11 bit length 1 29 bit length Always 0 When 1 is set on this bit SDO abort code returns Value range of parameter exceeded write access only 06090030h 30 Selection of SYNC Object generation 0 Not generate 1 Generate Always 0 When 1 is set on this bit SDO abort code returns Value range of parameter exceeded write acces...

Page 83: ...ion 00h Name Manufacturer Device Name Data type VISIBLE_STRING ASCII data Default value Below Access attribute Const Availability of mapping to PDO Disable Model Description REMARKS A700 A700 41h 37h 30h 30h Sub Index Item Description 00h Name Guard Time Data type UNSIGNED16 16 bit unsigned Default value 0 Unit ms Access attribute Read Write Availability of mapping to PDO Disable REMARKS When 0 is...

Page 84: ... in Guarding protocol is determined by Guard Time Life Time Factor Sub Index Item Description 00h Name Life Time Factor Data type UNSIGNED8 8 bit unsigned Default value 0 Unit ms Access attribute Read Write Availability of mapping to PDO Disable REMARKS When 0 is set in Guard Time Guarding operation is made invalid Guarding protocol Refer to page 63 Life Time Factor Refer to page 78 A7NCA book 76 ...

Page 85: ...type UNSIGNED32 32 bit unsigned Default value Unit Access attribute Read Write Availability of mapping to PDO Disable 02h Name Save Communication Parameters Data type UNSIGNED32 32 bit unsigned Default value Unit Access attribute Read Write Availability of mapping to PDO Disable 03h Name Save Application Parameters Data type UNSIGNED32 32 bit unsigned Default value Unit Access attribute Read Write...

Page 86: ...tore process is not performed and SDO Abort is returned Abort code 0800 002xh When Sub Index is read availability of automatic parameter save is returned Sub Index Store process 01h Save the all entry 02h Save Index1000h to 1FFFh Communication Profile Area 03h Save Index6000h to 9FFFh Device Profile Area Bit Meaning 0 1 Save the parameter by writing save to Sub Index 0 Not save the parameter even ...

Page 87: ...UNSIGNED32 32 bit unsigned Default value Unit Access attribute Read Write Availability of mapping to PDO Disable 02h Name Restore Communication Default Parameters Data type UNSIGNED32 32 bit unsigned Default value Unit Access attribute Read Write Availability of mapping to PDO Disable 03h Name Restore Application Default Parameters Data type UNSIGNED32 32 bit unsigned Default value Unit Access att...

Page 88: ... EEPROM clear 02h Index1000h to 1FFFh Communication Profile Area return to the default values 03h Index6000h to 9FFFh Device Profile Area return to the default values Sub Index Item Description 00h Name Emergency COB ID Data type UNSIGNED32 32 bit unsigned Default value 00000080h NodeID Unit Access attribute Read Only Availability of mapping to PDO Disable Bit Description REMARKS 0 to 10 COB ID us...

Page 89: ...beat transmission interval when Heartbeat protocol is used Refer to page 65 Sub Index Item Description 00h Name Inhibit Time EMCY Data type UNSIGNED16 16 bit unsigned Default value 0 Unit 100µs Access attribute Read Write Availability of mapping to PDO Disable Sub Index Item Description 00h Name Producer Heartbeat Time Data type UNSIGNED16 16 bit unsigned Default value 0 Unit ms Access attribute R...

Page 90: ...NED32 32 bit unsigned Default value 000001D0h Unit Access attribute Read Only Availability of mapping to PDO Disable 02h Name Product Code Data type UNSIGNED32 32 bit unsigned Default value 00000030h 48 Unit Access attribute Read Only Availability of mapping to PDO Disable 03h Name Revision Number Data type UNSIGNED32 32 bit unsigned Default value Unit Access attribute Read Only Availability of ma...

Page 91: ...gned Default value Use within the range of 00000000h to 0000FFFFh Unit Access attribute Read Only Availability of mapping to PDO Disable Bit Description REMARKS 0 to 15 Minor Revision Number Incremented when the setting which does not change the operation or the action of CANopen has been made For example minor bug fix etc 16 to 31 Major Revision Number Incremented when the setting which changes t...

Page 92: ...0h 200h Node ID Index 1405h 80000300h Node ID Index 1414h 80000400h Node ID Index 1401h to 1404h 1406h to 1413h 1415h to 15FFh disabled Unit Access attribute Read Only other than Index 1400 1405 1414 Read Write Index 1400 1405 1414 Availability of mapping to PDO Disable 02h Name Transmission Type Data type UNSIGNED8 8 bit unsigned Default value 255 Unit Access attribute Read Write Availability of ...

Page 93: ...OB ID 11 to 28 Always 0 29 Always 0 11 bit ID CAN 2 0A 30 0 RTR allowed on this PDO 1 no RTR allowed on this PDO 31 0 PDO exists valid 1 PDO does not exist invalid 02h 0 to 7 Description of transmission type Transmission Type PDO Transmission cyclic acyclic synchronous asynchronous RTR only 0 valid valid 1 to 240 valid valid 241 to 251 reserved 252 valid valid 253 valid valid 254 valid 255 valid A...

Page 94: ...ts in PDO Data type UNSIGNED8 8 bit unsigned Default value Unit Access attribute Read Only Availability of mapping to PDO Disable 01h to 40h Name PDO mapping for the nth application object to be mapped Data type UNSIGNED32 32 bit unsigned Default value Refer to page 40 Unit Access attribute Read Only Availability of mapping to PDO Disable A7NCA book 86 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 95: ...00280h Node ID Index 1814h 80000380h Node ID Index 1801h to 1804h 1806h to 1813h 1815h to 19FFh disabled Unit Access attribute Read Only other than Index 1800 1805 1814 Read Write Index 1800 1805 1814 Availability of mapping to PDO Disable 02h Name Transmission Type Data type UNSIGNED8 8 bit unsigned Default value 255 Unit Access attribute Read Write Availability of mapping to PDO Disable 03h Name...

Page 96: ...NED8 8 bit unsigned Default value Unit ms Access attribute Read Write Availability of mapping to PDO Disable REMARKS Refer to page 84 for details of Index 1400h to 15FFh Recive PDO Parameters Sub Index Item Description A7NCA book 88 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 97: ...scription of transmission type 03h 0 to 15 Sub index 3h contains the inhibit time This time is a minimum interval for PDO transmission The value is defined as multiple of 100µs It is not allowed to change the value while the PDO exists Bit 31 of sub index 1 is 0 05h 0 to 7 By setting the Sub Index 05h PDO is sent with Sub Index 05h setting value The setting increments is 1ms Transmission Type PDO ...

Page 98: ...ects in PDO Data type UNSIGNED8 8 bit unsigned Default value Unit Access attribute Read Only Availability of mapping to PDO Disable 01h to 40h Name PDO mapping for the nth application object to be mapped Data type UNSIGNED32 32 bit unsigned Default value Refer to page 44 Unit Access attribute Read Only Availability of mapping to PDO Disable A7NCA book 90 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 99: ...able Index Name Unit 01800 or less 02160 or more 2000h Output frequency 0 01Hz 0 01Hz 2001h Output current 0 01A 0 1A 2002h Output voltage 0 1V 0 1V 2004h Frequency setting 0 01Hz 0 01Hz 2005h Running speed 1r m 1r m 2006h Motor torque 0 1 0 1 2007h Converter output voltage 0 1V 0 1V 2008h Regenerative brake duty 0 1 0 1 2009h Electronic thermal relay function load factor 0 1 0 1 200Ah Output curr...

Page 100: ...2018h Cumulative power 1kWh 1kWh 201Fh Torque command 0 1 0 1 2020h Torque current command 0 1 0 1 2021h Motor output 0 01kW 0 1kW 2022h Feedback pulse 1 2031h Power saving effect Pr variable Pr variable 2032h Cumulative saving power Pr variable Pr variable 2033h PID set point 0 1 0 1 2034h PID measured value 0 1 0 1 2035h PID deviation 0 1 0 1 2039h Option input terminal status1 4 203Ah Option in...

Page 101: ...ion input terminal monitor 2 input terminal status of FR A7AX all terminals are off when an option is not fitted 6 Details of option output terminal monitor output terminal status of FR A7AY A7AR all terminals are off when an option is not fitted b15 b0 CS RES STOP MRS JOG RH RM RL RT AU STR STF b15 b0 ABC2 ABC1 FU OL IPF SU RUN b15 b0 X15 X14 X13 X12 X11 X10 X9 X8 X7 X6 X5 X4 X3 X2 X1 X0 b15 b0 D...

Page 102: ...b Index Item Description 00h Name Alarm clear Data type UNSIGNED16 16 bit unsigned Default value Unit Access attribute Write Only Availability of mapping to PDO Enable Sub Index Item Description 00h Name Inverter reset Data type UNSIGNED16 16 bit unsigned Default value Unit Access attribute Write Only Availability of mapping to PDO Disable A7NCA book 94 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 103: ...16 16 bit unsigned Default value Unit Access attribute Write Only Availability of mapping to PDO Disable Written Value Description 965Ah Parameter Clear 99AAh All Parameter Clear 5A96h Parameter Clear except for communication parameter AA99h All Parameter Clear except for communication parameter Other than the above Nothing is done REMARKS Respond error when the inverter is not receptive A7NCA boo...

Page 104: ...it Access attribute Read Write Availability of mapping to PDO Disable Value Description 0000h External operation mode 0001h PU operation mode 0002h External JOG operation mode 0003h PU JOG operation mode 0004h NET operation mode 0005h External PU combined operation mode Other than the above Nothing is done REMARKS Respond error if the inverter is not receptive when requesting the change A7NCA book...

Page 105: ... to Pr 901 Pr 940 to Pr 999 Sub Index Item Description 00h Name Parameter area Pr 0 to Pr 901 Pr 940 to Pr 999 Data type UNSIGNED16 16 bit unsigned Default value Unit Access attribute Read Write Availability of mapping to PDO Enable REMARKS Respond error if the inverter is not receptive when requesting A7NCA book 97 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 106: ...it unsigned Default value 2 Unit Access attribute Read Only Availability of mapping to PDO Disable 01h Name Parameter Area Pr 902 to Pr 939 Offset value Data type UNSIGNED16 16 bit unsigned Default value Unit Access attribute Read Write Availability of mapping to PDO Enable 02h Name Parameter Area Pr 902 to Pr 939 Analog value Data type UNSIGNED16 16 bit unsigned Default value Unit Access attribut...

Page 107: ...ta type UNSIGNED16 16 bit unsigned Default value Unit Access attribute Read Write Index 3400h Read Only Index 3401h to 3403h Availability of mapping to PDO Enable Index No Sub Index High Byte Low Byte 3400h 00h Alarm history 2 Alarm history 1 3401h 00h Alarm history 4 Alarm history 3 3402h 00h Alarm history 6 Alarm history 5 3403h 00h Alarm history 8 Alarm history 7 A7NCA book 99 ページ２００６年７月３日月曜日...

Page 108: ...31h THM 40h FIN 50h IPF 51h UVT 52h ILF 60h OLT 70h BE 80h GF 81h LF 90h OHT 91h PTC A0h OPT A3h OP3 B0h PE B1h PUE B2h RET B3h PE2 C0h CPU Data Description C1h CTE C2h P24 C4h CDO C5h IOH C6h SER C7h AIE C8h USB D0h OS D1h OSD D2h ECT D3h OD D5h MB1 D6h MB2 Data Description D7h MB3 D8h MB4 D9h MB5 DAh MB6 DBh MB7 DCh EP F1h E 1 F2h E 2 F3h E 3 F6h E 6 F7h E 7 FBh E 11 FDh E 13 Data Description A7...

Page 109: ... when the internal status of the FR A7NCA Refer to page 112 is Operation Enable The motor runs at the speed of target_velocity at transition to Operation Enable To change the rotation direction at transition to Operation Enable set target_velocity to negative speed Sub Index Item Description 00h Name Control input command w Inverter status r Data type UNSIGNED16 16 bit unsigned Default value Unit ...

Page 110: ... not affected by settings of Pr 190 to Pr 196 output terminal function selection 1 FWD During forward rotation 2 REV Reverse running 3 SU up to frequency 4 OL overload 5 IPF instantaneous power failure 6 FU frequency detection 7 ABC1 alarm 8 to 14 blank 15 Operation ready completion READY A7NCA book 102 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 111: ...ly Availability of mapping to PDO Disable 01h Name Set frequency w Output frequency r Data type UNSIGNED16 16 bit unsigned Default value Unit 0 01Hz frequency Access attribute Read Write Availability of mapping to PDO Enable 02h Name Set speed w Running Speed r Data type UNSIGNED16 16 bit unsigned Default value Unit 1r min speed Access attribute Read Write Availability of mapping to PDO Enable A7N...

Page 112: ...w set speed w written at the same time with SDO and PDO the latter writing has priority 1 Writing Perform the set frequency speed writing in 0 01Hz 1r min increments 2 Reading Perform the output frequency running speed reading in 0 01Hz 1r min increments REMARKS Refer to page 34 conversion of set speed and running speed A7NCA book 104 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 113: ...ion 00h Name Number of Entries Data type UNSIGNED8 8 bit unsigned Default value 2 Unit Access attribute Read Only Availability of mapping to PDO Disable 01h Name Set Frequency RAM Data type UNSIGNED16 16 bit unsigned Default value Unit 0 01Hz Access attribute Read Write Availability of mapping to PDO Enable 02h Name Set Frequency EEPROM Data type UNSIGNED16 16 bit unsigned Default value Unit 0 01H...

Page 114: ... type UNSIGNED8 8 bit unsigned Default value 2 Unit Access attribute Read Only Availability of mapping to PDO Disable 01h Name Set Speed RAM Data type UNSIGNED16 16 bit unsigned Default value Unit 1r min Access attribute Read Write Availability of mapping to PDO Enable 02h Name Set Speed EEPROM Data type UNSIGNED16 16 bit unsigned Default value Unit 1r min Access attribute Write Only Availability ...

Page 115: ...he FR A7NCA Refer to page 112 is Operation Enable The motor runs at the speed of target_velocity at transition to Operation Enable To change the rotation direction at transition to Operation Enable set target_velocity to negative speed Sub Index Item Description 00h Name Control Input Command w Data type UNSIGNED16 16 bit unsigned Default value Unit Access attribute Write Only Availability of mapp...

Page 116: ...s attribute Read Only Availability of mapping to PDO Enable bit Definition 0 RUN inverter running Signals are not affected by settings of Pr 190 to Pr 196 output terminal function selection 1 FWD During forward rotation 2 REV Reverse running 3 SU up to frequency 4 OL overload 5 IPF instantaneous power failure 6 FU frequency detection 7 ABC1 alarm 8 to 14 blank 15 Operation ready completion READY A...

Page 117: ... Name Number of Entries Data type UNSIGNED8 8 bit unsigned Default value 2 Unit Access attribute Read Only Availability of mapping to PDO Disable 01h Name Set Frequency w Data type UNSIGNED16 16 bit unsigned Default value Unit 0 01Hz frequency Access attribute Write Only Availability of mapping to PDO Enable 02h Name Set Speed w Data type UNSIGNED16 16 bit unsigned Default value Unit 1r min speed ...

Page 118: ...d Only Availability of mapping to PDO Disable 01h Name Output Frequency r Data type UNSIGNED16 16 bit unsigned Default value Unit 0 01Hz frequency Access attribute Read Only Availability of mapping to PDO Enable 02h Name Running Speed r Data type UNSIGNED16 16 bit unsigned Default value Unit 1r min speed Access attribute Read Only Availability of mapping to PDO Enable REMARKS Refer to page 34 conv...

Page 119: ...d Data Type UNSIGNED16 16 bit unsigned Default value Unit Access attribute Read Write Availability of mapping to PDO Enable Bit Description Remarks 0 Switch On 1 Disable voltage Output shutoff 2 Quick Stop Stop command 3 Enable Operation 4 to 6 not used bit operation invalid 7 Reset Fault Alarm reset 8 to 15 not used bit operation invalid A7NCA book 111 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 120: ...isable Operation 0 0 1 1 1 5 Enable Operation 0 1 1 1 1 4 16 Fault Reset 0 1 15 Fault Switched On 8 9 3 2 7 1 0 13 14 4 5 15 12 10 11 16 Power Disabled Fault Power Enabled 6 Start Fault Reaction Active Not Ready to Switch On 2 Switch On Disabled 2 Ready to Switch On Operation Enable 1 1 The inverter outputs the speed of target_velocity at transition to Operation Enable 2 During Not Ready to Switch...

Page 121: ... a stop The status changes by a command Ready to Switch On Inverter is at a stop The status changes by a command Switched On Inverter is at a stop The status changes by a command Operation Enable During operation Quick Stop Active At deceleration to stop by QuickStop excecution Fault Reaction Active Fault Reaction Active status is not available with the FR A7NCA Fault Alarm occurrence status A7NCA...

Page 122: ... set when the inverter is responding to the Quick stop request at reset 6 Switch on disabled 7 Warning 1 is set when the inverter is in Warning status 8 Manufacturer spesific 9 Remote 1 is set during parameter change from the network and command message execution Set 0 in local mode 10 Reserved 11 Internal limit active 1 when Index 6046h Subindex 01h vl_velocity_min_amount is bigger than Index 604...

Page 123: ...tion Command Bit6 Switch on disabled Bit5 Quick Stop Bit3 Fault Bit2 Operation Enabled Bit1 Switch on Bit0 Ready to Switch On Not ready to switch on 0 0 0 0 0 Switch on disabled 1 0 0 0 0 Ready to switch on 0 1 0 0 0 1 Switched on 0 1 0 0 1 1 Operation enabled 0 1 0 1 1 1 Quick stop active 0 0 0 1 1 1 Fault reaction active 0 1 1 1 1 Fault 0 1 0 0 0 A7NCA book 115 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 124: ...equency and uses frequency and speed conversion for increments change Refer to page 34 Sub Index Item Description 00h Name vl target velocity Data Type INTEGER16 16 bit signed Default value 0 Unit 1 r min Access attribute Read Write Availability of mapping to PDO Enable Sub Index Item Description 00h Name vl velocity demand Data Type INTEGER16 16 bit signed Default value Unit 1 r min Access attrib...

Page 125: ...is returned for open loop control and actual speed monitor speed feedback value is returned for closed loop control Refer to page 34 Sub Index Item Description 00h Name vl control effort Data Type INTEGER16 16 bit signed Default value Unit 1 r min Access attribute Read Only Availability of mapping to PDO Enable A7NCA book 117 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 126: ...ss attribute Read Only Availability of mapping to PDO Disable 01h Name vl velocity min amount Pr 2 Data Type UNSIGNED32 32 bit unsigned Default value Unit 1rpm Access attribute Read Write Availability of mapping to PDO Enable 02h Name vl velocity max amount Pr 1 Data Type UNSIGNED32 32 bit unsigned Default value Unit 1rpm Access attribute Read Write Availability of mapping to PDO Enable A7NCA book...

Page 127: ...s the Pr 1 and Pr 2 Changing the speed maximum value and speed minimum value of Index 6046 changes the Pr 1 Maximum frequency and Pr 2 Minimum frequency value as well vl_velocity_max_amount vl_velocity_max_amount vl_velocity_min_amount vl_velocity_min_amount 0 output input A7NCA book 119 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 128: ...2 Unit Access attribute Read Only Availability of mapping to PDO Disable 01h Name Delta speed Pr 20 Data Type UNSIGNED32 32 bit unsigned Default value Unit 1r min Access attribute Read Write Availability of mapping to PDO Enable 02h Name Delta time Pr 7 Data Type UNSIGNED16 16 bit unsigned Default value Unit s Access attribute Read Write Availability of mapping to PDO Enable A7NCA book 120 ページ２００...

Page 129: ... Acceleration deceleration time increments You can set the time taken by the motor to accelerate from 0Hz to the set frequency 1 to 400Hz of Pr 20 Acceleration deceleration reference frequency Refer to the inverter manual applied for details of Pr 20 Parameter Number Name Initial Value Setting Range Description 21 Acceleration deceleration time increments 0 0 Increments 0 1s Range 0 to 3600s Incre...

Page 130: ... the Pr 21 setting has been changed set the acceleration time again Example When Pr 21 0 and the setting of acceleration time is 5 0 s and if the setting of Pr 21 is changed to 1 the setting value of acceleration time will change to 0 5 s Refer to the inverter manual applied for details REMARKS Refer to the inverter manual applied for details of Pr 7 Pr 20 and Pr 21 A7NCA book 122 ページ２００６年７月３日月曜...

Page 131: ... 2 Unit Access attribute Read Only Availability of mapping to PDO Disable 01h Name Delta speed Pr 20 Data Type UNSIGNED32 32 bit unsigned Default value Unit 1r min Access attribute Read Write Availability of mapping to PDO Enable 02h Name Delta time Pr 8 Data Type UNSIGNED16 16 bit unsigned Default value Unit s Access attribute Read Write Availability of mapping to PDO Enable A7NCA book 123 ページ２０...

Page 132: ... the inverter manual applied for details of Pr 20 CAUTION The setting increments of deceleration time changes according to the Pr 21 setting The value 0 1 times greater than the setting value is written to the inverter when Pr 21 1 When the Pr 21 setting has been changed set the deceleration time again Example When Pr 21 0 and the setting of deceleration time is 5 0 s and if the setting of Pr 21 i...

Page 133: ...2 Unit Access attribute Read Only Availability of mapping to PDO Disable 01h Name Delta speed Pr 20 Data Type UNSIGNED32 32 bit unsigned Default value Unit 1r min Access attribute Read Write Availability of mapping to PDO Enable 02h Name Delta time Pr 8 Data Type UNSIGNED16 16 bit unsigned Default value Unit s Access attribute Read Write Availability of mapping to PDO Enable A7NCA book 125 ページ２００...

Page 134: ...on time depends on the setting of Pr 44 etc CAUTION The setting increments of deceleration time changes according to the Pr 21 setting The value 0 1 times greater than the setting value is written to the inverter when Pr 21 1 When the Pr 21 setting has been changed set the deceleration time again Example When Pr 21 0 and the setting of deceleration time is 5 0 s and if the setting of Pr 21 is chan...

Page 135: ... Output shutoff 1 Slow down on slow down ramp Decelerate to stop along the slope of vl_velocity_deceleration 2 Slow down on quick stop ramp Decelerate to stop along the slope of vl_velocity_quick_stop 3 4 5 Slow down on slow down ramp and stay in QUICK STOP Decelerate to stop along the slope of vl_velocity_deceleration The status transition remains Quick stop activ even after quick stop completion...

Page 136: ...d on modes of operation display FR A7NCA supports Velocity Mode Sub Index Item Description 00h Name Modes of operation Data Type INTEGER8 8 bit signed Default value 2 Unit Access attribute Read Write Availability of mapping to PDO Enable Value Description 2 Velocity Mode A7NCA book 128 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 137: ...es the current operation mode Sub Index Item Description 00h Name Modes of operation display Data Type INTEGER8 8 bit signed Default value 2 Unit Access attribute Read Only Availability of mapping to PDO Enable Value Description 2 Velocity Mode A7NCA book 129 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 138: ... Device Type Data Type UNSIGNED32 32 bit unsigned Default value 00010192h Access attribute Read Only Availability of mapping to PDO Disable Bit Description Remarks 0 to 15 Device Profile Number 0192h Drive Profile is 402 16 to 23 Additional Information Type 01h Frequency Converter 24 to 31 Additional Information mode bits 00h A7NCA book 130 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 139: ...re connected properly Check that baud rate setting is correct Check that the network cable is properly terminated Check for a cable and connector Check for baud rate setting Check for cable termination 0 00 On Bus off occurrence Check that all cables are connected properly Check that baud rate setting is correct Check that Network power is on Check for a cable and connector Check for baud rate set...

Page 140: ...132 APPENDIX EDS file For the EDS file A700 EDS of the FR A700 series contact your sales representative A7NCA book 132 ページ２００６年７月３日月曜日午前９時４８分 ...

Page 141: ...REVISIONS The manual number is given on the bottom left of the back cover Print Date Manual Number Revision Jun 2006 IB NA 0600259ENG A First edition A7NCA book 135 ページ２００６年７月３日月曜日午前９時４８分 ...

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