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Santerno SINUS H Series, User Manual

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Chapter 2. CANopen Communication Option 

 

5 

 

■

 

Mount CANopen communication Module 
(6) and fasten the removed screw (7)   
and the included screw (8). 

 
 
 
 
 
 
 

■

 

Install the keypad (9) at first and 
the communication module 
cover (10) in order. 
   

 
 
 
 
 
 
 
 

■

 

Install the power supply cover (11) again 
And the installation is completed. 
 

 
 
 
 
 
 
 
 
 
 
 

 

Summary of Contents for SINUS H Series

Page 1: ...the structure or operating cycle of the product must be performed or authorized by Enertronica Santerno S p A Enertronica Santerno S p A assumes no responsibility for the consequences resulting by the...

Page 2: ...the instructions carefully Particular attention should be paid because danger of an electric shock may be present Keep operating instructions handy for quick reference Read the operating instructions...

Page 3: ...work Management State Machine 20 4 2 1 NMT state initialization 21 4 2 2 NMT state Pre operational 22 4 2 3 NMT state operational 22 4 2 4 NMT state stopped 22 4 2 5 The frames enabling communication...

Page 4: ...M 94 50 7 2 6 Set baudrate Opt Parameter1 CM 10 50 7 2 7 Set Profile Opt Parameter2 CM 11 51 7 2 8 Display communication virsion state Fbus S W ver CM 06 52 7 3 Parameter Setting for the Periodic Comm...

Page 5: ......

Page 6: ...rolled by PLC sequence program or any master module Multiple inverters can be connected with a single communication line saving the installation cost Simple and clean wiring makes installation and mai...

Page 7: ...ps 500kbps 800kbps 1Mkbps Max number of Node 64 each Including Master With 1 Master connected to network the maximum number of inverter nodes is 63 64 1 Device Type AC Drive Supported Communication Ty...

Page 8: ...Option 3 2 2 Layout of CANopen Communication Module CANopen Terminal Block MC9S12 B128 LCD KPD Conn KPD CONN I O Board CONN ACPL 072L MCP 2515 NTE 0505 ACPL 072L CPU ERR BUS NODE ON OFF 5Pin Pluggabl...

Page 9: ...y is plugged when CANopen communication module is removed the Sinus H inverter will be damaged entirely Take off CANopen communication module from the product after the power supply is totally dischar...

Page 10: ...ount CANopen communication Module 6 and fasten the removed screw 7 and the included screw 8 Install the keypad 9 at first and the communication module cover 10 in order Install the power supply cover...

Page 11: ...n of connector for CANopen signal line 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 5...

Page 12: ...stalled while the inverter is switched on Please remove or install the option card after the charged voltage of condenser is totally discharged To reduce the noise CANopen communication module at both...

Page 13: ...ock MC9S12 B128 LCD KPD Conn KPD CONN I O Board CONN ACPL 072L MCP 2515 NTE 0505 ACPL 072L CPU ERR BUS NODE ON OFF 5Pin Pluggable Connector Termination Switch When the switch of terminal resistance is...

Page 14: ...Block MC9S12 B128 LCD KPD Conn KPD CONN I O Board CONN ACPL 072L MCP 2515 NTE 0505 ACPL 072L CPU ERR BUS NODE ON OFF 5Pin Pluggable Connector Termination Switch When the switch of terminal resistance...

Page 15: ...istance is not guaranteed The table below presents the guaranteed communication distance when using 18AWG DeviceNet cable Thick cable Note Sinus H CANopen communication card not supports 10 kbps The r...

Page 16: ...inappropriately or the Internal CAN communication between the inverter and the CANopen is lost NODE Green This LED turns on according to the status of the current NMT Network Management BUS Green This...

Page 17: ...ID Setting Error 0 is entered as the ID of the CM 7 FBus Enter a figure between 1 127 not zero into the FBus ID and execute CM 94 COMM Update and set 1 Yes Blinks at an interval twice as long as that...

Page 18: ...nergized the CANopen has not been initialized yet and is not ready for CANopen communication Wait until lit If not set the COMM Update of the CM 94 to 1 Yes Kept OFF CANopen Stopped If the NODE LED ha...

Page 19: ...bolts and nuts Turn the power on and off Blinks synchronously with the CPU LED CANopen Profile Setting Error The profile set up on the CANopen Master differs from that set up in the Option Check that...

Page 20: ...and LED Definition 15 LED LED Signal Option Status Possible Cause Action Network line has not been connected yet Check that Network Line has been connected Kept ON CANopen Network Bus No Error No pro...

Page 21: ......

Page 22: ...Function code Note As COB Communication Object it is an integral part of CAN Message Frame showing the unit transmitted by CAN Network The table below presents the function code for peer to peer COB...

Page 23: ...jects in the Object Directory using SDO communication It specifies the Object by the combination of Object Index and Sub Index 4 1 3 PDO communication PDO communication is used to send and receive the...

Page 24: ...PDO specific Event Synchronous and Asynchronous Transmission Triggering modes There are 3 trigger modes available for the generation of the event for PDO transmission Event and timer driven When the p...

Page 25: ...ve performs NMT Slave state machine Only when it becomes Pre operational state Configuration of the devices is enabled The figure below shows the NMT State Diagram of a CANopen device Initalization Re...

Page 26: ...ervice reset node indication 12 13 14 NMT service reset communication indication 15 NMT sub state reset application is finished NMT sub state reset application is entered autonomously 16 NMT sub state...

Page 27: ...ve through SDO or read through the necessary data This is the step of preparing PDO communication before starting PDO communication through SDO In this state when Start_Remote_Node Command is received...

Page 28: ...tocol that checks if the CANopen devices connected with the Network are properly working Error Control Protocol consists of two types Node Life Guarding Protocol and Heartbeat Protocol 4 3 1 Protocol...

Page 29: ...ion at every time set in the Heartbeat Producer In case of Heartbeat Consumer in the event Heartbeat Producer fails to send Heartbeat during the time preset Heartbeat Event takes place in the Consumer...

Page 30: ...UNSIGNED32 Sub index 0x00 Property RO Read Only Data 0x00010192 Consisting of two words Upper words indicate Frequency Converter 0x01 while Lower words indicate Drive Profile DSP402 0x0192 5 2 Error...

Page 31: ...ror Register Data Inverter Trip Generic error HW Diag Fuse Open External Trip BX Current error Inverter Overload Trip Over Current1 Ground Trip Over Current2 Voltage error In Phase Open Over Voltage L...

Page 32: ...st emergency Property RO Read only Error Code Trip Error Code Trip Data 0x0000 None 0x8402 OverSpeed 0x1000 UNDEFINED 0x8200 Protocol Error 0x2220 Inverter OLT 0x8210 PDO not processed due to length e...

Page 33: ...mat is as follows The Sinus H CANopen Option only receives and does not generate SYNC and supports Standard ID only Therefore both the gen and frame must be 0 Index 0x1005 Data type UNSIGNED32 Sub ind...

Page 34: ...r by the hardware version of the Option 5 7 Manufacturer Software Version Version data of the software of the Option Index 0x100A Data type VISIBLE_STRING String Sub index 0x00 Property CONST Read onl...

Page 35: ...col 5 10 COB ID EMCY This SDO sets the CAN ID of the Emergency Frame In the Sinus H CANopen setting is prohibited only reading is allowed Index 0x1014 Data type UNSIGNED32 Sub index 0x00 Property RW D...

Page 36: ...tack of CANopen are initialized in this state Switch on disable Current Option state is not available for Switch On Ready to switch on Ready to change to switch on state anytime Switch on Ready for Op...

Page 37: ...op command is not accepted 6 On receiving Shut Down command If motor has been running conduct Free run stop 7 On receiving Disable voltage command None 8 On receiving Shut Down command Conduct Free ru...

Page 38: ...r response to the inverter trip Fault Code Number Description Fault Code Number Description Data 0x0000 None 0x7120 No Motor Trip 0x1000 Untitled 0x8401 Speed Dev Trip 0x2220 Inverter OLT 0x8402 Over...

Page 39: ...on 1 Enable voltage 2 Disable quick stop 3 Enable operation 4 Ramp function generator disable 5 Ramp function generator stop 6 Ramp function generator zero 7 Reset fault 8 Halt 9 Reserved 10 Reserved...

Page 40: ...1 1 1 5 Switched on Enable Operation O 1 1 1 1 4 16 Operation enabled Fault Reset X X X X 15 Switch on disabled X symbol means whether it is set to 0 or 1 it won t matter The bits between 4bit and 7bi...

Page 41: ...ion 0 Ready to switch on 1 Switched on 2 Operation enabled 3 Fault Trip 4 Voltage enable 5 Quick stop 6 Switch on disable 7 Warning 8 Reserved 9 Remote 10 Target reached 11 Internal limit active 12 15...

Page 42: ...Name Type Property Unit Range 0x6043 0 Vl velocity demand U16 RO rpm 30000 30000 Reverse Forward In the event CM 11 Profile Sel is set to 1 ES Device Profile PDO3 it does not support this parameter v...

Page 43: ...ity of our inverter it fixes Delta Speed at Max Speed Index Sub index Name Type Property Unit Range 0x6048 VI velocity acceleration 0 Number of entries U8 RO 2 Delta Time U16 RO sec 0 0 600 0 In the e...

Page 44: ...RO 2 Delta Time U16 RO sec 0 0 600 0 vl velocity Quick Stop Object 0x604A It is the object that sets Quick Stop time As shown in the picture as below it determines Quick Stop Deceleration Time throug...

Page 45: ...0x4010 DRV group 0x4011 BAS group 0x4012 ADV group 0x4013 CON group 0x4014 IN group 0x4015 OUT group 0x4016 COM group 0x4017 APP group 0x401A PRT group 0x401B M2 0x401C USS group 0x401D USF group E g...

Page 46: ...in the Index 0x4011 and Sub index 70 Ad ADVANCED group 0x4012 Index Sub index Name Type Property Unit Range 0x4012 Code Num Keypad Parameter name U16 RO or RW Cn CONTROL group 0x4013 Index Sub index...

Page 47: ...0x4016 Code Num Keypad Parameter name U16 RO or RW APP APPLICATION group 0x4017 Index Sub index Name Type Property Unit Range 0x4017 Code Num Keypad Parameter name U16 RO or RW RPT PROTECTION group 0...

Page 48: ...D Index Sub index Name Type Property Unit Range 0x401D Code Num Keypad Parameter name U16 RO or RW 6 2 PDO Of the CiA 402 Drive and Motion Control implemented for the PDO for the frequency converter 6...

Page 49: ...ted once 252 253 Not supported 255 Transmits RPDO by Event Trigger RPDO3 Parameter 0x1402 Index Sub index Name Type Property Unit Range 0x1402 0 RPOD1 Parameter U8 RO 1 COB ID U32 RW 2 Transmission Ty...

Page 50: ...COB ID is the unique CAN ID value of PDO The Transmission type of the Sinus H CANopen is fixed in 255 0xFF Asynchronous TPDO is transmitted at every Event Time TPDO3 Parameter 0x1802 Index Sub index...

Page 51: ...s H CANopen is fixed therefore user cannot edit the map TPDO1 mapping 0x1A00 Index Sub index Name Type Property Unit Range 0x1A00 1 PDO Mapping Entry1 0x6041 Status word U32 RO 2 PDO Mapping Entry2 0x...

Page 52: ...rameter Default Range drv Cmd Source 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 V2 5 I2 6 Int 485 7 Reserved 8 Fieldb...

Page 53: ...Para Status 2 0x000E 0 0xFFFF CM 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 0x0...

Page 54: ...erter using CANopen communication it requires setting Frq Freq Ref Src to 8 Fieldbus 7 2 3 Set Station ID Fbus ID CM 07 CM 07 FBus ID CM 94 Comm Update It is the parameter that sets the Station ID val...

Page 55: ...D KPD 7 2 5 Comm Update CM 94 CM 61 Station ID CM 62 Baud rate CM 63 Profile Sel CM 67 Comm Update The values of Station ID baudrate and Profile must be modified and Comm UpDate must be set to Yes wit...

Page 56: ...on Profile 0 CiA 402 Drive and Motion Control Velocity Mode Frequency Converter PDO1 1 ES Device Profile PDO3 When CM 11 Profile Sel is changed ERR LED of CANopen communication card will flicker in tw...

Page 57: ...11 Profile Sel CM 51 54 Input 1 4 It designates four addresses Para Control 1 4 and then uses the data value transmitted from the master through RPDO3 Receive PDO for the inverter 7 4 Parameter setti...

Page 58: ...setting drv to 4 Fieldbus or Frq to 8 Fieldbus It operates according to the operation method selected when communication command loss The table below presents the operation method Code Description 0...

Page 59: ...ecognized as communication command loss To use the communication command loss function it requires setting drv to 4 Fieldbus or Frq to 8 Fieldbus In the event communication is resumed within communica...

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