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SV-iS7 CANopen Manual 

11 

 

 

4.2.1 NMT 

state 

initialization 

The Initialization also is divided into 3 modes. 

 

Initializing

: the beginning status of the Option, which is the initialization stage after Power-On or H/W 

Reset. 

Reset Application

: NMT requested Node Reset. The initialization is conducted according to the profile. 

Reset Communication

: NMT requested Communication Reset, and notice the Master of boot-up via 

NMT frame. This state is transferred to Pre Operational automatically. 

4.2.2 NMT 

state 

pre-operational 

Before PDO communication, the PDO information is sent by the Master to the Slave via SDO, or necessary data 

is read. In this state, the PDO communication is being prepared via SDO. 

4.2.3 NMT 

state 

operational 

PDO communication is started by changing all the devices to Operation via the NMT frame. Of course, SDO 

communication is enabled too. 

4.2.4 NMT 

state 

stopped 

SDO and PDO communications are stopped due to a problem in the network. However the Node Guarding and 

Heartbeat communication are enabled. 

Содержание SV-iS7 CANopen

Страница 1: ...quick reference z Read the operating instructions carefully to fully understand the functions of the SV iP5A series and to use it properly CAUTION z Be cautious when handling the CMOS components of the Option Board Static may lead to malfunctioning of the product z Turn off the inverter power when changing the communication cable Otherwise you may damage the board or a communication error may occu...

Страница 2: ...and controlled 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 maintenance works much easier and faster Various peripheral devices of PLC can be used to control inverters Various systems including PCs can be linked for plant automation 1 3 Components The opt...

Страница 3: ...audRate 20kbps 50kbps 100kbps 125kbps 250kbps 500kbps 800kbps 1Mkbps Max number of Node 64 ea Including Master With 1 Master connected to network the maximum number of inverter nodes is 63 64 1 Device Type AC Drive Supported Communication Type PDO SDO Sync NMT Terminal Resistance 120 ohm 1 2W Lead Type Available PDO PDO1 CiA 402 Drive and Motion Control device profile PDO3 LS Profile Vender Name 0...

Страница 4: ...nstallation Do not install or remove the CANopen communication card while the power supply of the equipment is ON Otherwise both the CANopen communication card and the inverter may be damaged Install or remove the CANopen communication card when the condenser of the inverter has been fully discharged ...

Страница 5: ...ation card at the end position The terminating resistor a 120 ohm 1 2W resistor should connect the CAN_L and CAN_H 2 3 Maximum Communication Range according to Baud Rate In a network system the total length of the network line is determined by the baud rate The performance of the communication farther than this distance is not guaranteed Baud Rate Bus Length Remark 1 Mbit s 25 m 800 Kbit s 50 m 50...

Страница 6: ...d rate or profile set up or communication status 3 2 Diagnosis of Option by LED Signal LED LED Signal Option Status Possible Cause Action CPU Kept OFF No Power Failure in power supply 5V to the CANopen communication card Check inverter power supply Check power supply to the CANopen communication card Blink at 1 sec intervals On Power 5V power supplied Normal status ERR Kept OFF No Error Normal Opt...

Страница 7: ...t OFF CANopen Not Initial If the NODE LED has not been turned on yet after the CANopen Option has been energized 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 COM 94 to Yes Kept OFF CANopen Stopped If the NODE LED has been lit at least by once the CANopen Master has issued a Stopped command Normal status Blinks ...

Страница 8: ...ected CANopen s communication speed is different Check that the baud rate of the CANopen set up in the Master and that in the Option are identical Blinks at an interval twice as long as that of the CPU LED Kept OFF PDO Communication Not Connected Bus Off Master has not been connected for communication yet Check that the Master has started communication Network line has not been connected yet Check...

Страница 9: ...nly CAN2 0A Standard is supported As the CAN2 0A is implemented the ID comprises 11Bits The figure below shows the configuration of the ID The table below presents the Broadcast Function code The table below presents the function code for peer to peer Since only CAN2 0A is used the PDO also is available between 1 4 Presently the PDOs used in the CANopen Option are PDO1 CiA402 Profile and PDO3 LS P...

Страница 10: ...t from the server and client in the SDO communication The Producer can be a client or a server The Producer of the TPDO is a server and the Producer of the RPDO is a client This is because the PDO is classified in the perspective of the server The Consumer is the recipient of the PDO created by Producer 4 1 3 1 Transmission modes Synchronous transmission PDO is transmitted according to SYNC frame ...

Страница 11: ... This command is used by the master to control the slave devices in the network The figure below shows the NMT State Diagram of a CANopen device The above table presents the conditions for status transfer The NMT Service means those converted by the NMT command frame ...

Страница 12: ... via NMT frame This state is transferred to Pre Operational automatically 4 2 2 NMT state pre operational Before PDO communication the PDO information is sent by the Master to the Slave via SDO or necessary data is read In this state the PDO communication is being prepared via SDO 4 2 3 NMT state operational PDO communication is started by changing all the devices to Operation via the NMT frame Of...

Страница 13: ...4 3 Error Control Protocols These protocols are used to check normal operation of the device Two methods are available in the CANopen Protocol node guarding and Protocol heartbeat 4 3 1 Protocol node guarding Master inquires the Slave for normal operation via the RTR Frame and the Slave returns the current NMT State to the Master The NMT status of the Slave is indicated by the value of S 4 Stopped...

Страница 14: ...e CANopen NMT State is changed to Pre operational 4 3 2 Protocol heartbeat If the Error Control Protocol is set to Heartbeat the MNT State information of itself is sent at the time intervals set up in the Heartbeat Producer If the Heartbeat Producer fails to send the Heartbeat within the preset time the Heartbeat consumer generates a Heartbeat event The value of S represents the MNT state of the S...

Страница 15: ...Manager software program To do this you need to install the EDS file for the iS7 provided by the LS Industrial System in your PC The EDS file can be downloaded from the Webpage of LS Industrial System www lsis biz EDS file name LSIS_IS7_CANOPENxx EDS LSIS_IS7_CANOPENxx EDS should be copied into the folder where the EDS file is stored in the Master Configuration program ...

Страница 16: ...a type UNSIGNED8 Sub index 0x00 Access RO Data Bit Information 0 Generic error 1 Current 2 Voltage 3 Temperature 4 Communication error overrun error state 5 Device profile specific 6 reserved always 0 7 manufacturer specific 5 3 Pre defined Error Field The information on the current Emergency Index 0x1003 Data type UNSIGNED32 Object code Object code Sub index 0x00 Description Number of the occurre...

Страница 17: ... the information on the CAN ID of the device that sends the SYNC Message The Bit format is as follows The iS7 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 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 N...

Страница 18: ...00 Access CONST Read only data Unchangeable Data Version 1 00 May differ by the software version of the Option 5 8 Guard Time This SDO sets the guard time when using the Node Guarding Protocol of the Error Control Protocol Index 0x100C Data type UNSIGNED16 Sub index 0x00 Access RW Data Guard Time unit msec 5 9 Life Time Factor This SDO sets the life time factor when using the Node Guarding Protoco...

Страница 19: ...vailable due to inverter drive etc Write The data in above table must be transmitted to save the keypad parameters in the ROM 5 11 COB ID EMCY This SDO sets the CAN ID of the Emergency Frame In the IS7 CANopen setting is prohibited only reading is allowed Index 0x1014 Data type UNSIGNED32 Sub index 0x00 Access RW Data NODEID 0x80 Node ID is the FBus ID currently set up in the Option 5 12 Producer ...

Страница 20: ...y to switch on Ready to change to switch on state anytime Switch on Ready for Operation enable RN command can be issued at anytime Operation enabled Motor is running Quick stop active Motor is to be or has been stopped The table below presents the action of the inverter according to status change Transition Event Action 0 Automatic change Conduct self diagnosis and initialize parameters 1 Automati...

Страница 21: ...reducing time setup in the Quick Stop 12 On receiving Disable voltage command Conduct Free run stop 13 When the inverter tripped Conduct Trip sequence 14 Automatic change Conduct Trip sequence 15 On receiving Reset command or Trip is released Change to Switch on disable state 16 On receiving Enable operation command Motor runs again 6 1 2 CiA 402 SDO 6 1 2 1 Error codes Object 0x603F Index 0x603F ...

Страница 22: ...Dev Trip 0x8402 OverSpeed 0x9001 External Trip 0x9002 BX 0xFF01 Ethermal 0xFF03 Out Phase Open 0xFF04 Over Load 0xFF05 Under Load 0xFF06 Thermal Trip 0xFF07 Pre PID Fail 0xFF0A Lost Command 0xFF0B Lost Keypad 6 1 2 2 Control word Object 0x6040 Index 0x6040 The Bit composition below presents the bit command of the Control Word so Switch on ev Enable Voltage qs Quick stop eo Enable operation er Enab...

Страница 23: ... 5 1 1 The figure in the Transitions is the numbers of the inverter action table described in 5 1 1 Followings are the command bits used in Enable Operation Bit Value Description 4 Enable Ramp 0 Maintain previous operational state 1 Operate inverter by command bit 5 Unlock Ramp 0 Holds output frequency 1 Drive up to the target frequency 6 Reference Ramp 0 Enter zero in the target frequency 1 Enter...

Страница 24: ...rd rtso ready to switch on so switched on oe operation enabled f fault Trip ve voltage enabled qs quick stop sod switch on disabled w warning rm remote tr target reached ila internal limit active nu not used The bit values according to the state of FAS 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 nu nu nu Nu ila tr rm nu w sod qs ve f oe so rtso ...

Страница 25: ... Function Target velocity Unit rpm Basic format 0 Setting range 30000 30000 value represents inverse run represents normal run the range varies by the parameter setting 6 1 2 5 vl velocity demand Object 0x6043 Index 0x6042 Function Current target velocity Unit rpm Basic format 0 ...

Страница 26: ...nts normal run the range varies by the parameter setting 6 1 2 6 vl velocity actual value Object 0x6044 Index 0x6044 Function Current run velocity Unit rpm Basic format 0 Setting range 30000 30000 value represents inverse run represents normal run the range varies by the parameter setting ...

Страница 27: ...alities are ADV 24 ADV 25 and ADV26 6 1 2 8 vl velocity acceleration Object 0x6048 Index 0x6050 Function Object which determines an acceleration time Unit sec Basic format 0 0 Setting range 0 0 600 0 Setting range differs from parameter setting of inverter As shown in the figure the acceleration time is determined using the Delta speed and Delta time For the safety of the inverter the delta_speed ...

Страница 28: ...eleration time Unit sec Basic format 0 0 Setting range 0 0 600 0 Setting range differs from parameter setting of inverter As shown in the figure the deceleration time is determined using the Delta speed and Delta time For the safety of the inverter the delta_speed was fixed to Max speed and the setting parameter was removed ...

Страница 29: ...k Stop time Unit sec Basic format 0 0 Setting range 0 0 600 0 Setting range differs from parameter setting of inverter As shown in the figure the deceleration time is determined using the Delta speed and Delta time For the safety of the inverter the delta_speed was fixed to Max speed and the setting parameter was removed ...

Страница 30: ...hese are the parameters in the control only common area between the communication address 0h380 0h3DF In the CANopen Index is 0x4001 and Sub Index is the last 2 digits of the communication address added with 1 E g To read the value in the communication address 0h0389 the data is in Index 0x4001 and Sub Index 0x0A Inverter memory control area These are the parameters in the memory control common ar...

Страница 31: ...dexed by group The SubIndex is the code number The table below presents the index values by Group Index Area 0x4010 DRV Group 0x4011 BAS Group 0x4012 ADV Group 0x4013 CON Group 0x4014 IN Group 0x4015 OUT Group 0x4016 COM Group 0x4017 APP Group 0x4018 APO Group 0x4019 PRT Group 0x401A M2 Group E g To obtain the value of the I1 Monitor mA which is the Code 20 parameter in Group read the values in th...

Страница 32: ... the occurrence of SYNC the master creates RPDO which is transmitted only when the data has been changed from the previous value 1 240 receiving SYNC for preset frequency the RPDO is transmitted once 252 not supported 253 Not supported 254 Manufacturer defined varies by Master Type 255 transmits RPDO by Event Trigger 6 2 2 RPDO mapping Since IS7 CANopen Map is fixed user cannot edit the map 6 2 2 ...

Страница 33: ...andatory Controls PDS FSA and Target velocity vl 2 Optional Controls PDS FSA and Target velocity vl and target torque tq 3 Optional Manufacture specification IS7 CANopen supports only TPDO1 and TPDO3 The settings are for the receiving methods of the TPDOs The index of the communication parameter object of the TPDO1 is 0x1400 The index of the communication parameter object of the TPDO3 is 0x1402 Th...

Страница 34: ...Time the TPDO is transmitted after Inhibit Time TPDO is not transmitted until the Inhibit Time has been passed 6 2 4 TPDO mapping The map of the IS7 CANopen is fixed therefore user cannot edit the map 6 2 4 1 TPDO1 mapping The PDO set up in the CiA 402 Profile Index 0x1A00 The table below presents the PDO1 Map Sub index Setting value Parameter Index Parameter Sub Index The name of parameter 0x01 0...

Страница 35: ...of CANopen FBus LED COM 10 CANopen speed Opt Parameter1 0 7 0 X COM 11 Select CANopen Profile Opt Parameter2 0 1 0 X COM 31 Keypad Addr of the TPDO Data to be read from CANopen Master Para Status 1 0x0000 0xFFFF 0x000A 0xXXXX Hex COM 32 Keypad Addr of the TPDO Data to be read from CANopen Master Para Status 2 0x0000 0xFFFF 0x000D 0xXXXX Hex COM 33 Keypad Addr of the TPDO Data to be read from CANop...

Страница 36: ...the event of Lost Command Lost Cmd Mode None Free Run Dec Hold Input Hold Output Lost Preset None PRT 13 Set up the time for the Lost Command Lost Cmd Time 0 1 120 0 1 0 0 0 sec PRT 14 Set up the speed of Lost Preset Lost Preset F 0 00 0 Hz Rpm 7 2 Description on the Basic Field Bus Parameters 7 2 1 COM 07 FBus ID The allowable setting range in the inverter is 0 127 However 0 is not used as a stat...

Страница 37: ...1 Opt Parameter2 These parameters select Profile Setting range 0 1 0 CiA 402 Drive and Motion Control Velocity Mode Frequency Converter PDO1 1 LS Device Profile PDO3 Default value is 0 CiA 402 Profile 7 4 Parameter Setting for the Periodic Communication 7 4 1 COM 31 34 Para Status This can be set up only when the LS Device Profile is selected in the COM11 4 parameter addresses are designated and t...

Страница 38: ... operation command is set to Fieldbus 7 5 1 PRT 12 Lost Cmd Mode None no action is taken even when the Inverter turns to Lost Command state Free Run in Lost Command state the motor turns to Free Run stop and Lost Command Trip is triggered Dec in Lost Command state the motor turns to trip deceleration stop and Lost Command Trip is triggered Hold Input the motor runs at the last speed command and Lo...

Страница 39: ...te unidentified However the guarantee term may vary on the sales term z In warranty service information If the defective part has been identified under normal and proper use within the guarantee term contact your local authorized LS distributor or LS service center z Out of warranty service information The guarantee will not apply in the following cases Troubles are attributable to a user s intent...

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