Fuji Electric OPC-G1-COP Operating Manual

/ Instruction Manual

CANopen Communications Card

"OPC-G1-COP"

ENGLISH

Fuji Electric Co., Ltd. INR-SI47-1331c-JE

English Version

ENGLISH

Preface

Thank you for purchasing our CANopen Communications Card OPC-G1-COP.
Mounting this communications card on your FRENIC-MEGA allows you to connect the FRENIC-MEGA to a

CANopen master unit (e.g., PC and PLC) and control it as a slave unit using run commands, frequency
commands, and access to function codes.

This communications card has the following features:

• Communications profile: DS 301 Ver. 4.02, DSP 402 Ver. 2.0 Velocity Mode

• Transmission speed: 20 kbit/s to 1 Mbit/s

• Maximum cabling length: 25 m (1 Mbit/s) to 2500 m (20 kbit/s)

• Reading and writing all the function codes supported by the FRENIC-MEGA

This instruction manual does not contain inverter handling instructions. Read through this instruction manual in
conjunction with the FRENIC-MEGA Instruction Manual and be familiar with proper handling and operation of
this product. Improper handling might result in incorrect operation, a short life, or even a failure of this product.

Keep this manual in a safe place.

Related Publications
Listed below are the other materials related to the use of the CANopen communications card "OPC-G1-COP."

Read them in conjunction with this manual as necessary.

• RS-485 Communication User's Manual

• FRENIC-MEGA Instruction Manual

The materials are subject to change without notice. Be sure to obtain the latest editions for use.
Listed below are the CANopen specifications published by CAN in Automation (CiA). It is recommended that the

user of this communications card read them since this instruction manual is intended for the user who has a
basic knowledge of CANopen.

• DS 301 Ver. 4.02

• DSP 402 Ver. 2.0

These specifications are available as a free download from the CiA website at:

http://www.can-cia.de/

• Read through this instruction manual and be familiar with the CANopen communications card before
proceeding with installation, connections (wiring), operation, or maintenance and inspection.

• Improper handling might result in incorrect operation, a short life, or even a failure of this product as
well as the motor.

• Deliver this manual to the end user of this product. Keep this manual in a safe place until this product
is discarded.

Safety precautions

Read this manual thoroughly before proceeding with installation, connections (wiring), operation, or
maintenance and inspection. Ensure you have sound knowledge of the device and familiarize yourself with all
safety information and precautions before proceeding to operate the inverter.

Safety precautions are classified into the following two categories in this manual.

ENGLISH

Failure to heed the information indicated by this symbol may lead to
dangerous conditions, possibly resulting in death or serious bodily
injuries.

Failure to heed the information indicated by this symbol may lead to
dangerous conditions, possibly resulting in minor or light bodily injuries
and/or substantial property damage.

Failure to heed the information contained under the CAUTION title can also result in serious consequences.
These safety precautions are of utmost importance and must be observed at all times.

1

Installation and wiring

• Before starting installation and wiring, turn OFF the power and wait at least five minutes for inverters
with a capacity of 22 kW or below, or at least ten minutes for inverters with a capacity of 30 kW or
above. Make sure that the LED monitor and charging lamp are turned OFF. Further, make sure,
using a multimeter or a similar instrument, that the DC link bus voltage between the terminals P(+)
and N(-) has dropped to the safe level (+25 VDC or below).

• Qualified electricians should carry out wiring.

Otherwise, an electric shock could occur.

• Do not use the product that is damaged or lacking parts.

Doing so could cause a fire, an accident, or injuries.

• Prevent lint, paper fibers, sawdust, dust, metallic chips, or other foreign materials from getting into
the inverter and the communications card.

Otherwise, a fire or an accident might result.

• Incorrect handling in installation/removal jobs could cause a failure.

A failure might result.

• Noise may be emitted from the inverter, motor and wires. Implement appropriate measure to prevent
the nearby sensors and devices from malfunctioning due to such noise.

Otherwise, an accident could occur.

Operation

• Be sure to install the front cover before turning the inverter's power ON. Do not remove the cover
when the inverter power is ON.

Otherwise, an electric shock could occur.

• Do not operate switches with wet hands.

Doing so could cause an electric shock.

• If you configure the function codes wrongly or without completely understanding FRENIC-MEGA
Instruction Manual and the FRENIC-MEGA User's Manual, the motor may rotate with a torque or at a
speed not permitted for the machine. Confirm and adjust the setting of the function codes before
running the inverter.

Otherwise, an accident could occur.

Maintenance and inspection, and parts replacement

• Before proceeding to the maintenance/inspection jobs, turn OFF the power and wait at least five
minutes for inverters with a capacity of 22 kW or below, or at least ten minutes for inverters with a
capacity of 30 kW or above. Make sure that the LED monitor and charging lamp are turned OFF.
Further, make sure, using a multimeter or a similar instrument, that the DC link bus voltage between
the terminals P(+) and N(-) has dropped to the safe level (+25 VDC or below).

Otherwise, an electric shock could occur.

• Maintenance, inspection, and parts replacement should be made only by qualified persons.

• Take off the watch, rings and other metallic objects before starting work.

• Use insulated tools.

Otherwise, an electric shock or injuries could occur.

2

Disposal

• Treat the communications card as an industrial waste when disposing of it.

Otherwise injuries could occur.

Others

• Never modify the communications card.

Doing so could cause an electric shock or injuries.

Icons

The following icons are used throughout this manual.

This icon indicates information which, if not heeded, can result in the product not operating to full
efficiency, as well as information concerning incorrect operations and settings which can result in
accidents.

This icon indicates information that can prove handy when performing certain settings or operations.

This icon indicates a reference to more detailed information.

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3

Table of Contents

Preface ..................................................................... 1

Safety precautions ............................................................ 1

Chapter 1 BEFORE USING THE COMMUNICATIONS

CARD................................................................ 5

1.1 Acceptance Inspection ............................................ 5

1.2 Applicable Inverters ................................................. 5

Chapter 2 NAMES AND FUNCTIONS ............................... 6

2.1 Parts Names ............................................................ 6

2.2 CANopen Terminal Block (TERM1) ......................... 6

2.3 LED Status Indicators .............................................. 6

Chapter 3 INSTALLATION AND REMOVAL OF THIS

COMMUNICATIONS CARD ............................. 7

3.1 Installing the Communications Card ........................ 7

3.2 Removing the Communications Card ...................... 9

Chapter 4 WIRING AND CABLING ................................. 10

4.1 Basic Connection Diagram .................................... 10

4.2 Wiring for CANopen Terminal Block ....................... 11

4.3 Wiring to Inverter ................................................... 12

Chapter 5 CONFIGURING INVERTER'S FUNCTION

CODES FOR CANopen COMMUNICATION .. 13

Chapter 6 ESTABLISHING A CANopen

COMMUNICATIONS LINK ............................. 14

Chapter 7 PDO PROTOCOL ........................................... 16

7.1 Overview ............................................................... 16

7.2 Receive PDO (Master inverter) ......................... 17

7.3 Transmit PDO (Inverter master) ........................ 19

7.4 Communications Parameters in Receive PDO ...... 20

7.5 Communications Parameters in Transmit PDO ..... 21

Chapter 8 SDO PROTOCOL ........................................... 23

8.1 About SDO ............................................................ 23

8.2 Response to Abnormal SDO Access ..................... 23

Chapter 9 OTHER CANopen COMMUNICATION

FUNCTIONS ................................................... 24

9.1 Overview ............................................................... 24

9.2 Other Services ....................................................... 24

Chapter 10 LIST OF OBJECTS ......................................... 26

10.1 Objects in Communication Profile Area ................. 26

10.2 Objects in Fuji Specific Profile Area ....................... 30

10.3 Standard Device Profile Area ................................. 31

Chapter 11 DRIVING THE INVERTER VIA CANopen

NETWORK ..................................................... 33

11.1 Driving with CANopen Drive Profile (DSP 402) ..... 33

11.2 Driving with Inverter's Function Code S06 ............. 38

Chapter 12 Heartbeat and Node Guarding ........................ 42

12.1 Heartbeat ............................................................... 42

12.2 Node Guarding ...................................................... 43

Chapter 13 INVERTER REACTIONS TO CANopen

NETWORK BREAKS ...................................... 44

Chapter 14 LIST OF INVERTER ALARM CODES ............ 45

Chapter 15 NOTES ON USE OF COMMUNICATIONS

CARD .............................................................. 47

Chapter 16 SPECIFICATIONS .......................................... 48

16.1 Operating Environment .......................................... 48

16.2 CANopen Specifications ........................................ 48

4

Chapter 1 BEFORE USING THE COMMUNICATIONS CARD

1.1 Acceptance Inspection

Unpack the package and check the following:
(1) A communications card, two screws (M3 8), and the CANopen Communications Card Instruction Manual

(this manual) are contained in the package.
(2) The communications card is not damaged during transportation--no defective parts, dents or warps.
(3) The model name "OPC-G1-COP" is printed on the communications card. (See Figure 2.1.)

If you suspect the product is not working properly or if you have any questions about your product, contact the
shop where you bought the product or your local Fuji branch office.

Neither an EDS file nor a terminating resistor comes with this communications card.

- An EDS file is required for registering this communications card to the configurator designed for
CANopen master node settings. It is available as a free download from our website at:

http://web1.fujielectric.co.jp/Kiki-Info-EN/User/index.html
Before downloading, you are requested to register as a member (free of charge).

- A terminating resistor of the following specifications must be used: 120 ohm ±1%, 1/4 watt,
metal-film resistor

1.2 Applicable Inverters

The CANopen communications card is applicable to the following inverters and ROM version.

Table 1.1 Applicable Inverters and ROM Version

Series Inverter type Applicable motor rating ROM version

FRENIC-MEGA FRN G1 - All capacities 1000 or later

* The boxes replace alphanumeric letters depending on the nominal applied motor, enclosure, power supply voltage, etc.

To check the inverter's ROM version, use Menu #5 "Maintenance Information" on the keypad. (Refer to the
FRENIC-MEGA Instruction Manual, Chapter 3, Section 3.4.6 "Reading maintenance information."

Display on LED Monitor Item Description

Inverter's ROM version Shows the inverter's ROM version as a 4-digit code.

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5

Chapter 2 NAMES AND FUNCTIONS

2.1 Parts Names

Figure 2.1 shows the names of the parts on the CANopen communications card.

Screw hole (left)

Model name

(Front) (Back)

Positioning cutout

LED status indicators

Figure 2.1 Names of Parts on CANopen Communications Card

Release knobTERM1

Screw hole (right)

CN1

2.2 CANopen Terminal Block (TERM1)

Connect the CANopen communications cable to the CANopen terminal block.

For details about wiring, refer to Chapter 4 "WIRING AND CABLING."

2.3 LED Status Indicators

This communications card has two LED status indicators that indicate the operation status of the
communications card as listed in Table 2.1.

Table 2.1 LED Status Indicators and Operation Status

LED Status Meaning

RUN OFF Powered off or communications error

(Green) Single flash *1 “Stopped”

Blinking *2 “Pre-Operational”
ON "Operational”

ERR OFF No communications error

(Red) Single flash *1 The CAN controller is Error-passive.

Double flash *3 Network break detected by Heartbeat or Node Guarding
Blinking *

ON The communications card is Bus-off. *

Both RUN and ERR are ON. CPU error on the communications card

*1 Single flash: In cycles of 200-ms ON and 1-second OFF.
*2 Blinking: At 2.5 Hz (In cycles of 200-ms ON and 200-ms OFF).
*3 Double flash: In cycles of 200-ms ON, 200-ms OFF, 200-ms ON, and 1-second OFF.
*4 The ERR LED might flash at an indefinite frequency.

2

Wrong connection between the communications card and
FRENIC-MEGA

4

6

Chapter 3 INSTALLATION AND REMOVAL OF THIS COMMUNICATIONS CARD

Before starting installation and wiring, turn OFF the power and wait at least five minutes for inverters with a
capacity of 22 kW or below, or at least ten minutes for inverters with a capacity of 30 kW or above. Make
sure that the LED monitor and charging lamp are turned OFF. Further, make sure, using a multimeter or a
similar instrument, that the DC link bus voltage between the terminals P(+) and N(-) has dropped to the safe
level (+25 VDC or below).

Otherwise, an electric shock could occur.

• Do not use the product that is damaged or lacking parts.

Doing so could cause a fire, an accident, or injuries.

• Prevent lint, paper fibers, sawdust, dust, metallic chips, or other foreign materials from getting into
the inverter and the communications card.

Otherwise, a fire or an accident might result.

• Incorrect handling in installation/removal jobs could cause a failure.

A failure might result.

3.1 Installing the Communications Card

Before mounting the communications card, perform the wiring for the main circuit terminals and control
circuit terminals.

(1) Remove the front cover from the inverter and expose the control printed circuit board (control PCB). As

shown in Figure 3.1, the communications card can be connected to the A-port only, out of the three option
connection ports (A-, B-, and C-ports) on the inverter.

To remove the front cover, refer to the FRENIC-MEGA Instruction Manual, Chapter 2, Section 2.3.

For inverters with a capacity of 30 kW or above, open also the keypad enclosure.

(2) Insert connector CN1 on the back of the communications card (Figure 2.1) into the A-port (CN4) on the

inverter's control PCB. Then secure the communications card with the two screws that come with the card.
(Figure 3.3)

Check that the positioning cutout (shown in Figure 2.1) is fitted on the tab ( in Figure 3.2) and
connector CN1 is fully inserted ( in Figure 3.2). Figure 3.3 shows the communications card
correctly mounted.

(3) Perform wiring to the communications card.

For details, refer to Chapter 4 "WIRING AND CABLING."

(4) Put the front cover back into place.

To put back the front cover, refer to the FRENIC-MEGA Instruction Manual, Chapter 2, Section 2.3.

For inverters with a capacity of 30 kW or above, close also the keypad enclosure.

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7

Figure 3.1 In the case of 0.4 kW

Fit the positioning cutout of the
communications card over the tab on the
inverter to determine the mounting position.

Insert connector CN1 on the communications
card into the corresponding port on the
inverter's control PCB.

Note: Be sure to follow the order of and .

Inserting CN1 first may lead to insufficient
insertion, resulting in a contact failure.

Tab

Figure 3.2 Mounting the Communications Card (to A-port)

8

Figure 3.3 Mounting Completed (on A-port)

3.2 Removing the Communications Card

(Release knob)

Remove the two screws that secure the communications card and pull the release knob (shown above) to take
the communications card out of the inverter.

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9

Chapter 4 WIRING AND CABLING

• Before starting installation and wiring, turn OFF the power and wait at least five minutes for inverters with
a capacity of 22 kW or below, or at least ten minutes for inverters with a capacity of 30 kW or above.
Make sure that the LED monitor and charging lamp are turned OFF. Further, make sure, using a
multimeter or a similar instrument, that the DC link bus voltage between the terminals P(+) and N(-) has
dropped to the safe level (+25 VDC or below).

• Qualified electricians should carry out wiring.

Otherwise, an electric shock could occur.

• In general, the covers of the control signal wires are not specifically designed to withstand a high voltage
(i.e., reinforced insulation is not applied). Therefore, if a control signal wire comes into direct contact with
a live conductor of the main circuit, the insulation of the cover might break down, which would expose the
signal wire to a high voltage of the main circuit. Make sure that the control signal wires will not come into
contact with live conductors of the main circuit.

Failure to observe this precaution could cause an electric shock or an accident.

Noise may be emitted from the inverter, motor and wires. Take appropriate measures to prevent the nearby
sensors and devices from malfunctioning due to such noise.

An accident could occur.

4.1 Basic Connection Diagram

FRENIC-MEGA

L1/R
L2/S
L3/T

OPC-G1-COP

CANopen

terminal block

CAN

transceiver

U

V
W

1

CAN_GND

2

CAN_L

3

CAN_H

4

CAN_SHILD

*1

4
5

CAN_V+

*2

5
1

2
3

Motor

CANopen dedicated cable

M

G

G

*1 This wire is not connected to the internal circuit on the communications card. Perform functional grounding

if necessary.

*2 This wire is not connected to the internal circuit on the communications card. No output voltage is applied

to this wire.

G

Figure 4.1 Basic Connection Diagram

10

4.2 Wiring for CANopen Terminal Block

(1) CANopen terminal block (TERM1)

The pin assignment of the CANopen terminal block (TERM1) is shown in Figure 4.2 and Table 4.1.

1 2 3 4 4 5 5 1 2 3

CAN_

GND

(2) CANopen communications cable

To connect the communications card to CANopen network, be sure to use a CANopen dedicated cable. The
maximum cabling length is listed below.

CAN_LCAN_HCAN_

SHLD

Figure 4.2 Pin Assignment on CANopen Terminal Block

Table 4.1 Functions of CANopen Terminals

Pin # Name Description

1 CAN_GND Signal ground
2 CAN_L CAN L bus line
3 CAN_H CAN H bus line
4 CAN_SHLD *1 Terminal for connecting the cable shield
5 CAN_V+ *2 NC

*1 This terminal is not connected to the internal circuit on the communications

card. Perform functional grounding if necessary.

*2 This terminal is not connected to the internal circuit on the communications

card. No output voltage is applied to this terminal.

CAN_
SHLD

CAN

_V+

CAN

_V+

CAN_

GND

CAN_LCAN

_H

Table 4.2 Maximum Cabling Length for CANopen Communication

Baud rate (bit/s) 20 k 50 k 125 k 250 k 500 k 800 k 1 M

Maximum cabling length 2500 m 1000 m 500 m 250 m 100 m 50 m 25 m

(3) Wiring to CANopen terminal block

Before connecting the CANopen communications cable to the terminal block, strip the wire ends as specified in
Figure 4.3 and twist the core and shield wires. Figure 4.4 shows the recommended terminal screw size and its
tightening torque.

Screw size: M3

5 to 7 mm

Figure 4.3 Strip Length of the CANopen

Cable Wire End

Tightening torque: 0.5 to 0.6: N·m

Figure 4.4 Connecting Wire to CANopen

Terminal Block

(4) Terminating resistor

When the communications card is mounted on the inverter at either end of the network, insert the terminating
resistor specified below between terminal pins #2 (CAN_L) and #3 (CAN_H).

120 1%, 1/4 W

ENGLISH

Terminating resistors do not come with this communications card. They are separately necessary.

11

4.3 Wiring to Inverter

Route the wiring of the CANopen communications cable as far from the wiring of the main circuit as
possible. Otherwise electric noise may cause malfunctions.

Route the wires, taking care not to let them go over the control PCB, as shown in Figure 4.5.
Otherwise, malfunctions may occur.

• For inverters with a capacity of 22 kW or below

* Pass the wires from the communications card between the

control circuit terminal block and the front cover.

In the case of 0.4 kW

• For inverters with a capacity of 30 kW or above

In the case of 75 kW

Figure 4.5 Examples of Wiring

12

Chapter 5 CONFIGURING INVERTER'S FUNCTION CODES FOR CANopen

COMMUNICATION

To perform data transmission between the inverter equipped with this communications card and the CANopen
master, configure the function codes listed in Table 5.1.

Table 5.2 lists inverter's function codes related to CANopen communication. Configure those function codes if
necessary.

Table 5.1 Inverter's Function Code Settings Required for CANopen Communication

Function

codes

1

*

o31

2

*

o32

3

*

y98

Description

Specify Node-ID
(station address)

Specify baud rate

Select run/frequency
command source

Factory

default
setting

0 0 to 255

(Specify any of 0 to 127.)

0 0 to 255

(Specify any of 0 to 7.)
0: 125 kbit/s 1: 20 kbit/s

2: 50 kbit/s 3: 125 kbit/s
4: 250 kbit/s 5: 500 kbit/s
6: 800 kbit/s 7: 1 Mbit/s
8 or above: 1 Mbit/s

0

Available data is:

0 Inverter Inverter
1 CANopen Inverter
2 Inverter CANopen
3 CANopen CANopen

Function code data Remarks

Setting 0 or 128 or greater
is regarded as 127.

The baud rate specified
here should be consistent
with that of the master
node.

If there is no special

Frequency
command

Run
command

problem with your system,
y98 = 3 is recommended.

*1 After configuring the function code o31, turn the inverter power OFF and then ON or issue ResetNode from the

CANopen master to the communications card to validate the new settings.
*2 After configuring the function code o32, turn the inverter power OFF and then ON to validate the new setting.
*3 In addition to y98, the FRENIC-MEGA has other function codes related to the run/frequency command source.

Configuring those codes realizes more precise selection of the command sources. For details, refer to the

descriptions of H30 and y98 in the FRENIC-MEGA Instruction Manual, Chapter 5 "FUNCTION CODES."

Table 5.2 Other Related Function Codes

Function

codes

1

*

o27

Select the inverter’s operation mode to

apply when a CANopen communications
error occurs.

1

*

o28

Set the operation timer to apply when a

CANopen communications error occurs.

2

o40 to o43

o48 to o51

*1 For details about function codes o27 and o28, refer to Chapter 13 "INVERTER REACTIONS TO CANopen

NETWORK BREAKS."
*2 For details about how to configure the function codes o40 to o43 and o48 to o51, refer to Chapter 7, Section 7.2, (4)

"Configuring inverter's function codes o40 to o43, o48 to o51, and Indexes 5E00 and 5E01."
After configuring them, turn the inverter power OFF and then ON or issue ResetNode from the CANopen master to

the communications card to validate the new settings.

*

Specify the function code to be assigned
to TPDO 3 (for write).

2

*

Specify the function code to be assigned
to RPDO 3 (for readout).

Description

Factory

default
setting

0 0 to 15

0.0 s 0.0 s to 60.0 s

0
(No assignment)

0
(No assignment)

Function code

setting range

0000 to FFFF (hex) These settings

0000 to FFFF (hex)

Remarks

are used in PDO

3.

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13

Chapter 6 ESTABLISHING A CANopen COMMUNICATIONS LINK

r

r

This chapter guides you to establish a CANopen communications link between the CANopen master and this
communications card mounted on the inverter (slave node).

Follow the steps below.

Step 1 Configuring the CANopen master equipment
Step 2 Specifying the Node-ID and the baud rate of the communications card, using inverter's function codes
Step 3 Restarting the inverter Pre-Operational state
Step 4 Setting a link break detector object (Heartbeat or Node Guarding)
Step 5 Sending a Start Remote Node command from the master node equipment to the communications card

Operational state

Each of the above steps is detailed below.

Step 1 Configuring the CANopen master equipment

- Specify the master Node-ID and baud rate.

- Register the communications card to the master node using the EDS file prepared for the communications
card.

For details about the configuration of the CANopen master equipment, refer to the user’s manual or
documentations of your master equipment.

An EDS file, which is required for registering the CANopen communications card to the CANopen
master, does not come with the communications card. It is available as a free download from ou
website at:

http://web1.fujielectric.co.jp/Kiki-Info-EN/User/index.html
Before downloading, you are requested to register as a member (free of charge).

Step 2 Specifying the Node-ID and the baud rate of the communications card, using inverter's function

codes

- Specify the Node-ID and baud rate of the communications card using o31 and o32, respectively. Those
settings should match the ones specified for the master node.

- Configure inverter's function codes o27 and o28, if needed.

For details about function codes o27 and o28, refer to Chapter 13 "INVERTER REACTIONS TO CANopen

NETWORK BREAKS."

Step 3 Restarting the inverter Pre-Operational state

Restarting the inverter automatically goes to the Pre-Operational state in which it is ready to communicate with
the CANopen master if the master and the inverter are correctly configured and wired to the network.

LED status indicators on the communications card in the Pre-Operational state: The green RUN LED flashes
and the red ERR LED is OFF or flashes.

Step 4 Setting a link break detector object (Heartbeat or Node Guarding)

To detect a link break, enable either Heartbeat or Guarding on both the master node and the communications
card.

For details about the configuration of the Heartbeat and Node Guarding, refer to Chapter 12.

At the factory, CANopen devices are so set up that their link break detectors are disabled. Unless the
user enables the link break detector, the CANopen network including the communications card does
not detect a communications link break if any. It is strongly recommended that the link break detecto
be enabled.

14

Step 5 Sending a Start Remote Node command from the master node equipment to the

communications card Operational state

Upon receipt of the Start Remote Node command, the communications card turns the green RUN LED ON and
switches to the Operational state. Accordingly, the master node can control or monitor the inverter in real time
via PDO transmission.

For data format of the PDO transmission, refer to Chapter 7 "PDO PROTOCOL."

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15

Chapter 7 PDO PROTOCOL

r

7.1 Overview

The Process Data Object (PDO) protocol is used to exchange process data (e.g., run commands, speed
monitor) between the CANopen master and the inverter in a pre-defined cycle. The communications card
supports three receive PDOs (RPDOs: Master inverter) and three transmit PDOs (TPDOs: Inverter
master) as listed in Table 7.1 and 7.2, respectively.

Table 7.1 Receive PDOs (RPDOs: Master inverter)

PDO No. Default COB-ID Contents Used to:

1 0x200 + Node-ID Controlword Control the state transition in DS-402.
2 0x300 + Node-ID Controlword

vl target velocity

3 0x400 + Node-ID Writing to inverter's function codes

specified by o40, o41, o42, and o43

Table 7.2 Transmit PDOs (TPDOs: Inverter master)

PDO No. Default COB-ID Contents Used to:

1 0x180 + Node-ID Statusword Control the state transition in DS-402.
2 0x280 + Node-ID Statusword

vl control effort

3 0x380 + Node-ID

Reading from inverter's function codes
specified by o48, o49, o50 and o51

Control the state transition and issue a
speed command in DS-402.

Write to four inverter's function codes
assigned.

Control the state transition and issue a
speed command in DS-402.

Read from four inverter's function codes
assigned.

About the transmission timing of transmit PDO
The factory default timing is to transmit a PDO to the CANopen master every time the paramete

value changes or at the time specified by Event timer, so the transmission timing is not synchronous
with commands specified in a receive PDO. In some cases, therefore, the inverter transmits three
PDOs in succession. (For example, although the master issues commands in receive PDO 2 only, it
receives responses PDOs 1 and 3 also from the inverter.)

To prevent it, the user can disable transmit PDOs individually (see Section 7.5, (2) "COB-ID"). It is
also possible to set the transmission timing to a pre-defined cycle (see Section 7.5, (3) "Transmission
type").

Enabling/disabling individual PDOs
The factory default is to enable all PDOs. Setting 1 to bit 31 of COB-ID of each PDO disables the

PDO, producing no response.

No change allowed for assignment of PDOs
The assignment of PDOs is fixed and cannot be changed by PDO Mapping Parameter (Index 1600 to

1602, 1A00 to 1A02).
The PDO protocol is available only in the Operational state.

16

7.2 Receive PDO (Master inverter)

(1) Receive PDO 1

COB-ID Byte Description

0x200 + Node-ID 0 Controlword (lower byte)

1 Controlword (upper byte)

Controlword: Control command for the DSP 402 state machine to control the inverter operation.

For details about the Controlword and DSP 402 state machine, refer to Chapter 11, Section 11.1 "Driving
with CANopen Drive Profile (DSP 402)."

(2) Receive PDO 2

COB-ID Byte Description

0x300 + Node-ID 0 Controlword (lower byte)

1 Controlword (upper byte)
2 vl target velocity (lower byte) (r/min)
3 vl target velocity (upper byte) (r/min)

Controlword: Control command for the DSP 402 state machine to control the inverter operation.
vl target velocity: Speed command (r/min)

For details about the Controlword, vl control effort, and DSP 402 state machine, refer to Chapter 11,
Section 11.1 "Driving with CANopen Drive Profile (DSP 402)."

(3) Receive PDO 3

This format is for constantly writing data of function codes (up to four) previously specified by inverter's function
codes o40 to o43.

COB-ID Byte Description

0x400 + Node-ID 0 User-defined function code 1 (write) (lower byte) (data of function code specified by o40)

1 User-defined function code 1 (write) (upper byte) (data of function code specified by o40)
2 User-defined function code 2 (write) (lower byte) (data of function code specified by o41)
3 User-defined function code 2 (write) (upper byte) (data of function code specified by o41)
4 User-defined function code 3 (write) (lower byte) (data of function code specified by o42)
5 User-defined function code 3 (write) (upper byte) (data of function code specified by o42)
6 User-defined function code 4 (write) (lower byte) (data of function code specified by o43)
7 User-defined function code 4 (write) (upper byte) (data of function code specified by o43)

For details about the function codes o40 to o43, refer to the next item (4) "Configuring inverter's function
codes o40 to o43, o48 to o51, and Indexes 5E00 and 5E01."

For details about the data format of function codes assigned, refer to the RS-485 Communication User's
Manual, Chapter 5, Section 5.2 "Data Formats."

ENGLISH

If the same function code is assigned to more than one out of o40 to o43 codes, only the one
assigned to the smallest "o" code number becomes effective, and all the rest will be treated as "not
assigned." (For example, if the same function code is assigned to o40 and o43, o40 becomes
effective and o43 does not.)

17

Once you have modified the o40 to o43 data, be sure to restart the inverter or issue ResetNode from

f

the CANopen master to the inverter to validate the new settings.

Object's Index 5E00 Sub 1 to 4 can also assign inverter's function codes. Those assignments
immediately take effect. Note that restarting the inverter or issuing ResetNode to the inverter reverts
those assignments to the ones made by o40 to o43.

The reflection timing of individual receive PDOs can be modified. Refer to Section 7.4, (3)
"Transmission type." The factory default timing is to reflect to the inverter immediately after receipt o
PDO."

(4) Configuring inverter's function codes o40 to o43, o48 to o51, and Indexes 5E00 and 5E01

Specifying the function code type (shown in Table 7.3) and number in a 4-digit hexadecimal notation.

Function code number (hexadecimal)
Function code type (in accordance with Table 7.3)

Table 7.3 Function Code Type

Type Type code Type Type code Type Type code

S 0x02 A 0x09 Z 0x12
M 0x03 o 0x0A b 0x13

F 0x04 r 0x0C d 0x14
E 0x05 J 0x0E
C 0x06 y 0x0F
P 0x07 W 0x10
H 0x08 X 0x11

Example: For F26: F Type code 04
26 1A (hexadecimal)

18

7.3 Transmit PDO (Inverter master)

(1) Transmit PDO 1

COB-ID Byte Description

0x180 + Node-ID 0 Statusword (lower byte)

1 Statusword (upper byte)

Statusword: Status display of DSP 402 state machine

For details about the Statusword, refer to Chapter 11, Section 11.1 "Driving with CANopen Drive Profile

(DSP 402)."

(2) Transmit PDO 2

COB-ID Byte Description

0x280 + Node-ID 0 Statusword (lower byte)

1 Statusword (upper byte)
2 vl control effort (lower byte) (r/min)
3 vl control effort (upper byte) (r/min)

Statusword: Status display of DSP 402 state machine
vl control effort: Output speed monitor (r/min)

For details about the Statusword and vl control effort, refer to Chapter 11, Section 11.1 "Driving with
CANopen Drive Profile (DSP 402)."

(3) Transmit PDO 3

This format is for constantly reading out data from function codes (up to four) previously specified by inverter's
function codes o48 to o51.

COB-ID Byte Description

0x380 + Node-ID 0 User-defined function code 1 (read) (lower byte) (data of function code specified by o48)

1 User-defined function code 1 (read) (upper byte) (data of function code specified by o48)
2 User-defined function code 2 (read) (lower byte) (data of function code specified by o49)
3 User-defined function code 2 (read) (upper byte) (data of function code specified by o49)
4 User-defined function code 3 (read) (lower byte) (data of function code specified by o50)
5 User-defined function code 3 (read) (upper byte) (data of function code specified by o50)
6 User-defined function code 4 (read) (lower byte) (data of function code specified by o51)
7 User-defined function code 4 (read) (upper byte) (data of function code specified by o51)

For details about the function codes o48 to o51, refer to Section 7.2 (4) "Configuring inverter's function
codes o40 to o43, o48 to o51, and Indexes 5E00 and 5E01."

For details about the data format of function codes assigned, refer to the RS-485 Communication User's
Manual, Chapter 5, Section 5.2 "Data Formats."

ENGLISH

Once you have modified the o48 to o51 data, be sure to restart both the inverter and the
communications card or issue ResetNode from the CANopen master to the inverter to validate the
new settings.

Object's Index 5E01 Sub 1 to 4 can also assign inverter's function codes. The assignment
immediately takes effect. Note that restarting the inverter or issuing ResetNode to the inverter reverts
to the assignment made by o48 to o51.

The transmission timing of individual transmit PDOs can be modified. Refer to Section 7.5, (3)
"Transmission type." The factory default timing is to transmit a PDO to the CANopen master every
time the parameter value changes or at the time specified by Event timer.

19

7.4 Communications Parameters in Receive PDO

(1) Communications parameters

The communications parameters specify the attributes of each receive PDO (RPDO). Table 7.3 lists the RPDOs
available.

Table 7.4 Communications Parameters in Receive PDO (RPDO) and Their Defaults

Index Sub Parameter Description
0x1400 RPDO 1

0x1401 RPDO 2
0x1402 RPDO 3

The parameters in Table 7.4 retain their settings even when the power to the communications card is
off. Writing "1" to Index 3001 "Restore defaults" initializes the RPDO to the default value.

(2) COB-ID

This parameter specifies an 11-bit ID value of communication object identifier of each PDO. The default value
varies depending upon the Node-ID. If the Node-ID of the communications card is "1," for example, the COB-ID
of RPDO 2 is 0x301. Writing "1" to the most significant bit (bit 31) disables the RPDO.

1 COB-ID Specifies the CAN ID value and enables/disables the

PDO.
Default:

RPDO 1: 0x200 + Node-ID
RPDO 2: 0x300 + Node-ID
RPDO 3: 0x400 + Node-ID

2 Transmission type Specifies the reflection timing of RPDO contents.

Default: 255 (Reflect to the inverter immediately after
receipt of PDO)

The COB-ID can be modified only when the PDO is disabled.

The CAN ID value is 11 bits long. Bits 11 through 30 are fixed to "0."

(3) Transmission type

The transmission type in an RPDO specifies the reflection timing of the RPDO contents to the inverter. Table 7.5
lists the transmission types available.

Table 7.5 Transmission Types Available in Receive PDO (RPDO)

Transmission type Type name Operation
0 Acyclic Synchronous Reflect to the inverter upon receipt of a single Sync signal

after receipt of the PDO.
1 to 240 Cyclic Synchronous Same as above.
241 to 251 Reserved. --­252 Synchronous RTR only Disable *
253 Asynchronous RTR only Disable *
254 Asynchronous 1 Reflect to the inverter immediately after receipt of PDO.
255 Asynchronous 2 Same as above. (Default)

* The communications card does not support CAN Remote Frames.

20

7.5 Communications Parameters in Transmit PDO

(1) About communication parameters

The communications parameters specify the attributes of each transmit PDO (TPDO). Table 7.6 lists the TPDOs
available.

Table 7.6 Communications Parameters in Transmit PDO (TPDO) and Their Defaults

Index Sub Name Description
0x1800 TPDO 1

0x1801 TPDO 2
0x1802 TPDO 3

1 COB-ID Specifies the CAN ID value and enables/disables the

PDO.
Default:
TPDO 1: 0x180 + Node-ID

TPDO 2: 0x280 + Node-ID
TPDO 3: 0x380 + Node-ID

2 Transmission type

3 Inhibit time Specifies the minimum interval (in units of 0.1 ms) for

5 Event timer Specifies the cyclic interval (ms) for PDO transmission,

Specifies the transmission timing. (See Table 7.7.)
Default: 255 (Transmit every time data changes.)

PDO transmission.
Default: 100 (10.0 ms)*

which takes effect in transmission type 254 or 255.
Default: 0 (Disable)*

* The resolution of the timer is 2 ms. Specifying an odd value automatically raises it to the nearest even value.

Specification of 119 ms, for example, is treated as 120 ms.

The parameters in Table 7.6 retain their settings even when the power to the communications card is
off. Writing "1" to Index 3001 "Restore defaults" initializes the TPDO to the default value.

(2) COB-ID

This parameter specifies an 11-bit ID value of communication object identifier of each PDO. The default value
varies depending upon the Node-ID. If the Node-ID of the communications card is "1," for example, the COB-ID
of TPDO 2 is 0x281. Writing "1" to the most significant bit (bit 31) disables the TPDO.

Only when the PDO is disabled, its COB-ID value can be modified.

The CAN ID value is 11 bits long. Bits 11 through 30 are fixed to "0."

ENGLISH

21

(3) Transmission type

The transmission type in a TPDO specifies the transmission timing of the PDO to the CANopen master. Table

7.7 lists the transmission types available.

Table 7.7 Transmission Types Available in Transmit PDO (TPDO)

Transmission type Type name Operation
0 Acyclic Synchronous Transmit a PDO upon receipt of a Sync signal if data has

changed.

1 to 240 Cyclic Synchronous Transmit a PDO every time the inverter receives a Sync signal

by the specified times (1 to 240 times).
(Example: Specification of 10 transmits a PDO every time the

inverter receives a Sync signal 10 times.)
241 to 251 Reserved. --­252 Synchronous RTR only Disable *
253 Asynchronous RTR only Disable *
254 Asynchronous 1 Transmit a PDO at the intervals specified by Event timer.
255 Asynchronous 2 Transmit a PDO every time data changes and at the time

specified by Event timer.

* The communications card does not support CAN Remote Frames.

(4) Inhibit time

This parameter specifies the minimum interval (in units of 0.1 ms) for PDO transmission. It has priority over the
transmission type settings.

The inhibit time can be modified only when the PDO is disabled, that is, bit 31 of the COB-ID is "1."

Specifying a too small value to the inhibit time increases the frequency of data transmission, resulting
in a lot of CANopen network traffic. It may degrade the performance of the overall CANopen network.
Adjust the inhibit time setting properly according to your network configuration.

(5) Event timer

This parameter specifies the cyclic interval (in units of 1 ms) for PDO transmission, which takes effect in
transmission type 254 or 255.

22

Chapter 8 SDO PROTOCOL

8.1 About SDO

The Service Data Object (SDO) protocol is used to configure or adjust the communications card. The SDO
allows access to all objects (parameters) of the communications card.

The communications card supports a single Server SDO.

For details about the SDO transfer procedure, refer to the user's manuals or documentations of your
master equipment or configuration tools.

For details about the objects, Chapter 10 "LIST OF OBJECTS."

8.2 Response to Abnormal SDO Access

If an access to the communications card using the SDO is abnormal, the communications card responds to it
with Abort codes listed below.

Table 8.1 Abort Codes for Abnormal SDO Access

Abort codes Description
0503 0000 Error in segmented transfer: Toggle bit not toggled

0504 0000 SDO timed out
0601 0001 Read request on write-only parameter
0601 0002 Write request on read-only parameter
0602 0000 Object does not exist

0606 0000
0607 0010 Data type unmatched

0609 0011 Sub-index does not exist
0609 0030 Attempted to write a value out of range

0800 0021

0800 0022

Access failed: Attempted to write when the EEPROM on the communications card is being
used

Error in writing into an inverter's function code
(Attempted to write into S01, S05, or S06 via CANopen network when the RS-485
communications link of the inverter exists)

Not allowed to write into an inverter's function code
(When the inverter is running or writing, or when any digital input terminal is ON)

ENGLISH

23

Chapter 9 OTHER CANopen COMMUNICATION FUNCTIONS

9.1 Overview

Table 9.1 overviews the CANopen communication functions of the communications card.

Table 9.1 CANopen Communication Functions of Communications Card
Item Contents supported Refer to:
Communications

profile
PDO - Supports three PDOs each for receive and transmit

SDO - Supports a single Server SDO. Chapter 8
Other services

provided

- DS 301 Ver. 4.02 compliant

- DSP 402 Ver. 2.0 Velocity Mode compliant

- No change allowed for assignment of PDOs

- Network Management (NMT)
Start_Remote_Node, Stop_Remote_Node, Enter_Pre-Operational, and
Reset_Communication, and Reset_Node

- Heartbeat (Producer and Consumer)

- Node Guarding

- Emergency (EMCY)

--

Chapter 7

Section 9.2

9.2 Other Services

(1) Network management (NMT)

The NMT controls the DS 301 state machine. Upon receipt of the NMT services, the communications card
operates as listed below.

9.2 Communications Card Operation Upon Receipt of NMT Services

Service Upon receipt of the service, the

communications card:

Start_Remote_Node Switches to the Operational state.

Stop_Remote_Node Switches to the Stopped state.
Enter_Pre-Operational

Reset_Communication
Reset_Node Initializes itself to the restarted state.

Switches to the Pre-Operational state.

Only in the Operational state, PDO
transmission is possible.

In the Stopped state, transmission of NMT
services only is possible.

In the Pre-Operational state, PDO
transmission is not possible.

The communications card reads in the
Node-ID and o40 to o51 data.

Remarks

For details about the NMT, refer to the user's manual or documentations of your master equipment, or
CANopen Specifications DS 301 published by CiA.

(2) Heartbeat and Node Guarding

Heartbeat and Node Guarding are services for detecting network breaks. The implementation of either
Heartbeat or Node Guarding is recommended.

For details about Heartbeat and Node Guarding, refer to Chapter 12 "Heartbeat and Node Guarding."

Important: Implementation of either Heartbeat or Node Guarding is recommended.

At the factory, CANopen devices are so set up that their link break detectors are disabled. Unless the user
enables the link break detector, the CANopen network including the communications card does not detect a
communications link break if any. It is strongly recommended that the link break detector be enabled.

24

(3) Emergency (EMCY)

This service allows the communications card to automatically transmit the content of an alarm that has occurred
in the inverter. The transmission format is shown below.

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

0x80 +

Node-ID

Error field: Content of an alarm that has occurred
Error register: 1 = An alarm has occurred, 0 = No alarm

Error field

(L byte) (H byte)

(Functionally equivalent to Index 1001)

Error

register

0 0 0 0 0

For details about alarm codes, refer to Chapter 14 "LIST OF INVERTER ALARM CODES."

ENGLISH

25

Chapter 10 LIST OF OBJECTS

This chapter describes objects (parameters) supported by the communications card. They are contained in any
of the following three areas.

(1) Communication Profile Area (Indexes 1000 to 1FFF)
This contains a group of objects common to all CANopen communications devices. It is stipulated in the

CANopen Specifications DS 301.

(2) Manufacturer Specific Profile Area (Indexes 2000 to 5FFF)
This contains a group of objects exclusively designed for Fuji products and not compatible with other

manufacturers' CANopen devices. It enables access to inverter's function codes.

(3) Standard Device Profile Area (Indexes 6000 to 9FFF)
This contains a group of objects that controls inverters. It is standardized by the CANopen Specifications

DSP 402 and is compatible with other manufacturers' CANopen devices.

10.1 Objects in Communication Profile Area

Table 10.1 lists objects in the communication profile area. In the Access column, "R" denotes Read-only and
"RW," Read/Write. In the Data retention column, a check mark ( ) denotes that the object retains the setting
even when the power to the communications card is off.

Table 10.1 Objects in Communication Profile Area

Index
(Hex)

1000 - Device type 0x10192 UNSIGNED32 - R
1001 - Error register 1: Error, 0: No error UNSIGNED8 - R
1003 - Pre-defined error field ARRAY - -

1005 - COB-ID SYNC

1008 ­1009 - Manufacturer HW version Hardware version STRING - R

100A - Manufacturer SW version Software version STRING - R

100C - Guard time

100D - Life time factor

1014 - COB-ID EMCY

1016

1017 - Producer heartbeat time

Sub Object name Description Data type

Number of errors that have

0 Number of errors

1 Standard error field

Manufacturer device
name

- Consumer heartbeat time ARRAY -

0 Number of entries Structures: 1 UNSIGNED8 - R

1 Consumer heartbeat time

occurred.
1: One error, 0: No error
Codes of errors that have

occurred. (See Table 14.1.)
COB-ID of SYNC message

Default: 0x080
Device name: OPC-G1-COP STRING

Node guarding time (ms)
Default: 0 (Disable)

Guarding time factor
(Multiplying the guard time by

this factor gives the life time for
this node.)

Default: 0 (Disable)
COB-ID of EMCY message

Readout value: 0x080 + Node-ID

Upper word: Node-ID of
Heartbeat producer

Lower word: Heartbeat monitor
cycle

Default: 0 (Disable)
Cycle time (ms) of Heartbeat

message transmission
Default: 0 (Disable)

UNSIGNED8

UNSIGNED32

UNSIGNED32 RW

UNSIGNED16 RW

UNSIGNED8 RW

UNSIGNED32 - R

UNSIGNED32 RW

UNSIGNED16 RW

Data

retention

-

-

-

Access

R

R

R

26

Index
(Hex)

1018

1400

1401

1402

1600

1601

1602

Sub Object name Description Data type

- Identity Object RECORD -

0 Number of entries Number of sub-indexes: 1 UNSIGNED8 - R
1 Vender ID

- 1st Receive PDO Communication Parameter RECORD -

0 Number of entries Number of sub-indexes: 2 UNSIGNED8 - R
1 COB-ID

2 Transmission type

- 2nd Receive PDO Communication Parameter RECORD -

0 Number entries Number of sub-indexes: 2 UNSIGNED8 - R
1 COB-ID

2 Transmission type

- 3rd Receive PDO Communication Parameter RECORD -

0 Number of entries Number of sub-indexes: 2 UNSIGNED8 - R
1 COB-ID

2 Transmission type

- 1st Receive PDO Mapping Parameter RECORD -
Number of mapped

0

objects

1 PDO mapping entry1

- 2nd Receive PDO Mapping Parameter RECORD -
Number of mapped

0

objects

1 PDO mapping entry1

2 PDO mapping entry2

- 3rd Receive PDO Mapping Parameter RECORD -
Number of mapped

0

objects

1 PDO mapping entry1

2 PDO mapping entry2

3 PDO mapping entry3

4 PDO mapping entry4

0x0000025E
(Fuji Electric Group)

COB-ID of RPDO 1
Default: 0x200 + Node-ID

Choice of transmission type
Default: 255

(Change of state event)
(See Tables 7.5 and 7.7.)

COB-ID of RPDO 2
Default: 0x300 + Node-ID

Choice of transmission type
Default: 255

(Change of state event)
(See Tables 7.5 and 7.7.)

COB-ID of RPDO 3
Default: 0x400 + Node-ID

Choice of transmission type
Default: 255
(Change of state event)

(See Tables 7.5 and 7.7.)

Number of mapped objects: 1 UNSIGNED8 - R
0x60400010

(Controlword)

Number of mapped object: 2 UNSIGNED8 - R
0x60400010

(Controlword)
0x60420010

(vl target velocity)

Number of mapped objects: 4 UNSIGNED8 - R
0x5F020110

(Function code assignment 1 for
write)

0x5F020210
(Function code assignment 2 for
write)

0x5F020310
(Function code assignment 3 for
write)

0x5F020410
(Function code assignment 4 for
write)

UNSIGNED32 - R

UNSIGNED32 RW *

UNSIGNED8 RW

UNSIGNED32 RW *

UNSIGNED8 RW

UNSIGNED32 RW *

UNSIGNED8 RW

UNSIGNED32 - R

UNSIGNED32 - R

UNSIGNED32 - R

UNSIGNED32 - R

UNSIGNED32 - R

UNSIGNED32 - R

UNSIGNED32 - R

Data

retention

Access

1

1

1

ENGLISH

27

Index
(Hex)

1800

1801

1802

1A00

1A01

Sub Object name Description Data type

Data

retention

Access

- 1st Transmit PDO Communication Parameter RECORD -

0 Largest sub-index Max. sub-index number: 5 UNSIGNED8 - R
1 COB-ID

COB-ID of TPDO 1
Default: 0x180 + Node-ID

UNSIGNED32 RW

Choice of transmission type

2 Transmission type

Default: 255
(Change of state event)

UNSIGNED8 RW

(See Tables 7.5 and 7.7.)
Minimum interval for PDO

3 Inhibit time

transmission (in units of 0.1 ms)

UNSIGNED16 RW *

Default: 100 (10.0 ms)
Cyclic interval (in units of 1 ms)

5 Event timer

for PDO transmission in the
transmission type 254 or 255.

UNSIGNED16 RW

Default: 0 (Disable)

- 2nd Transmit PDO Communication Parameter RECORD - -

0 Largest sub-index Max. sub-index number: 5 UNSIGNED8 - R
1 COB-ID

COB-ID of TPDO 2
Default: 0x280 + Node-ID

UNSIGNED32 RW *

Choice of transmission type

2 Transmission type

Default: 255
(Change of state event)

UNSIGNED8 RW

(See Tables 7.5 and 7.7.)
Minimum interval for PDO

3 Inhibit time

transmission (in units of 0.1 ms)

UNSIGNED16 RW *

Default: 100 (10.0 ms)
Cyclic interval (in units of 1 ms)

5 Event timer

for PDO transmission in the
transmission type 254 or 255.

UNSIGNED16 RW

Default: 0 (Disable)

- 3rd Transmit PDO Communication Parameter RECORD - -

0 Largest sub-index Max. sub-index number: 5 UNSIGNED8 - R
1 COB-ID

COB-ID of TPDO 3
Default: 0x380 + Node-ID

UNSIGNED32 RW *

Choice of transmission type

2 Transmission type

Default: 255
(Change of state event)

UNSIGNED8 RW

(See Tables 7.5 and 7.7.)
Minimum interval for PDO

3 Inhibit time

transmission (in units of 0.1 ms)

UNSIGNED16 RW *

Default: 100 (10.0 ms)
Cyclic interval (in units of 1 ms)

5 Event timer

for PDO transmission in the
transmission type 254 or 255.

UNSIGNED16 RW

Default: 0 (Disable)

- 1st Transmit PDO Mapping Parameter RECORD - ­Number of mapped

0

objects

1 PDO mapping entry1

Number of mapped objects: 1 UNSIGNED8 - R
0x60410010

(Statusword)

UNSIGNED32 - R

- 2nd Transmit PDO Mapping Parameter RECORD - ­Number of mapped

0

objects

1 PDO mapping entry1

2 PDO mapping entry2

Number of mapped objects: 2 UNSIGNED8 - R
0x60410010

(Statusword)
0x60440010

(vl control effort)

UNSIGNED32 - R

UNSIGNED32 - R

1

*

2

1

2

1

2

28

Index
(Hex)

1A02

*1 Writing of a COB-ID whose bit 31 is "1" once enables modification of the COB-ID.
*2 The inhibit time can be modified only when the PDO is disabled (that is, when bit 31 of the COB-ID is "1").

Sub Object name Description Data type

- 3rd Transmit PDO Mapping Parameter RECORD -
Number of mapped

0

objects

1 PDO mapping entry1

2 PDO mapping entry2

3 PDO mapping entry3

4 PDO mapping entry4

Number of mapped objects: 4 UNSIGNED8
0x5F030110

(Function code assignment 1 for
read)

0x5F030210
(Function code assignment 2 for

read)
0x5F030310
(Function code assignment 3 for

read)
0x5F030410
(Function code assignment 4 for

read)

UNSIGNED32 - R

UNSIGNED32 - R

UNSIGNED32 - R

UNSIGNED32 - R

Data

retention

-

Access

R

ENGLISH

29

10.2 Objects in Fuji Specific Profile Area

Table 10.2 lists objects in the Fuji specific profile area. In the Access column, "R" denotes Read-only and "RW,"
Read/Write. In the Data retention column, a check mark ( ) denotes that the object retains the setting even
when the power to the communications card is off.

Table 10.2 Objects in Fuji Specific Profile Area

Index
(Hex)

Sub Object name Description Data type

2200 0 Bus state

3000 0 Node state

3001 0 Restore defaults

- Assignment of RPDO 3 ARRAY - -

0 Number of entries Structures: 4 UNSIGNED8 - R

1 Function code 1

5E00

2

*

2 Function code 2

3 Function code 3

4 Function code 4

- Assignment of TPDO 3 ARRAY - -

0 Number of entries Structures: 4 UNSIGNED8 - R

1 Function code 1

5E01

2

*

2 Function code 2

3 Function code 3

4 Function code 4

5F02 to

5FFF

3

*

1 to
100

FRENIC's function
code

*1 Writable only in the Operational state.

CAN communication state
0: Normal

1: Bus-off or Error passive
2: Other errors

CANopen communication state
0: Not connected to CAN

1: Initialization in progress
2: Stopped
3: Pre-Operational
4: Operational

Changing from 0 to 1 reverts the
current values at Indexes 1000 to
1A02 to defaults.

Function code assignment 1 for
write in PDO 3

Default: o40 data
Function code assignment 2 for

write in PDO 3
Default: o41 data
Function code assignment 3 for

write in PDO 3
Default: o42 data
Function code assignment 4 for

write in PDO 3
Default: o43 data

Function code assignment 1 for
read in PDO 3

Default: o48 data
Function code assignment 2 for

read in PDO 3
Default: o49 data
Function code assignment 3 for

read in PDO 3
Default: o50 data
Function code assignment 4 for

read in PDO 3
Default: o51 data
Access to inverter's function code
Specifying the function code
Index= 5F , Sub= xx

: Code type (See Table 10.3.)

xx: Number + 1
Example: E01

Index 5F05, Sub 02

UNSIGNED8 - R

UNSIGNED8 - R

UNSIGNED8 - RW *

UNSIGNED16 - RW

UNSIGNED16 - RW

UNSIGNED16 - RW

UNSIGNED16 - RW

UNSIGNED16 - -

UNSIGNED16 - RW

UNSIGNED16 - RW

UNSIGNED16 - RW

UNSIGNED16 *4 RW *

Data

retention

Access

1

1

30

*2 For details about how to specify the function codes, refer to Chapter 7, Section 7.2 (4) "Configuring inverter's function

codes o40 to o43, o48 to o51, and Indexes 5E00 and 5E01."

Modifying function code assignments using Index 5E00 or 5E01 immediately takes effect in the
inverter. Note that restarting the inverter or issuing ResetNode to the inverter reverts them to the
ones made by o40 to o43 and o48 to 051.

*3 For details about function code type, refer to Table 10.3. For details about the data format of function codes assigned,

refer to the RS-485 Communication User's Manual, Chapter 5, Section 5.2 "Data Formats."

Table 10.3 Function Code Type

Type Type code Type Type code Type Type code

S 0x02 A 0x09 Z 0x12

M 0x03 o 0x0A b 0x13

F 0x04 r 0x0C d 0x14
E 0x05 J 0x0E

C 0x06 y 0x0F

P 0x07 W 0x10

H 0x08 X 0x11

*4 Turning the inverter power OFF clears the current settings of inverter's function codes S01, S05, S06, S07, S12, S13,

and S19.

10.3 Standard Device Profile Area

Table 10.4 lists objects in the standard device profile area. In the Access column, "R" denotes Read-only and
"RW," Read/Write. In the Data retention column, a check mark ( ) denotes that the object retains the setting
even when the power to the communications card is off.

Table 10.4 Objects in Standard Device Profile Area

Index
(Hex)

603F - Error code

6040 - Controlword

6041 - Statusword

6042 - vl target velocity Speed command (r/min) INTEGER16 - RW
6043 - vl velocity demand Speed monitor (r/min) INTEGER16 - R
6044 - vl control effort Same as above. INTEGER16 - R

6046

Sub Object name Description Data type

Alarm history (latest alarm info)
(For details, refer to Table 14.1.)

Drive control
(Controlling the DS 402 state
machine)

Status monitor
(Displaying the status of the DS 402
state machine)

- vl velocity min max amount ARRAY -

0 Number of entries Number of sub-indexes: 2 UNSIGNED8 - R

vl velocity min

1

amount

vl velocity max

2

amount

Minimum output speed (r/min)
(Equivalent to inverter's function

code F16)
Maximum speed (r/min)

(Equivalent to inverter's function
codes F03/A01/b01/r01 *1)

UNSIGNED16 - R

UNSIGNED16 - RW

UNSIGNED16 - R

UNSIGNED32 RW

UNSIGNED32 RW

Data

retention

Access

ENGLISH

31

Index
(Hex)

6048

6049

604A

604D - vl pole number

6060 - Modes of operation

6061 -

Sub Object name Description Data type

vl velocity acceleration

-

(Specifying acceleration using the Delta speed and Delta
time. Equivalent to inverter's function code S08)

0 Number of entries Number of sub-indexes: 2 UNSIGNED8 - R
1 Delta speed
2 Delta time Delta time (s) UNSIGNED16 *2 RW

vl velocity deceleration

-

(Specifying deceleration using the Delta speed and Delta
time. Equivalent to inverter's function code S09)

0 Number of entries Number of sub-indexes: 2 UNSIGNED8 - R
1 Delta speed
2 Delta time Delta time (s) UNSIGNED16 *2 RW

vl velocity quick stop
(Specifying deceleration time for quick stop using the Delta

­speed and Delta time. Equivalent to inverter's function code

H56)

0 Number of entries Number of sub-indexes: 2 UNSIGNED8 - R
1 Delta speed
2 Delta time Delta time (s) UNSIGNED16 *2 RW

Modes of operation
display

Delta speed (r/min) in acceleration
during the Delta time

Delta speed (r/min) in deceleration
during the Delta time

Delta speed (r/min) in deceleration
during the Delta time

Number of poles in motor
(Equivalent to inverter's function

codes P01/A15/b15/r15 *1)
Choice of mode for DS 402 state

machine
Confirmation of mode selected for

DS 402 state machine
Fixed at 2 (= Velocity mode)

Data

retention

RECORD -

UNSIGNED32 *2 RW

RECORD -

UNSIGNED32 *2 RW

RECORD -

UNSIGNED32 *2 RW

UNSIGNED8 RW

INTEGER8 - W

INTEGER8 - R

Access

*1 Depending upon the motor selected, the equivalent function codes automatically switch.

For details about motor selection, refer to the FRENIC-MEGA Instruction Manual, Chapter 5, Section 5.2.6 "A
codes, b codes and r codes."

*2 Once the power is turned off, the acceleration/deceleration slope values are retained, but the Delta time is

automatically set to 1 s. The Delta speed is recalculated based on the slope values and the Delta time (1 s).

32

Chapter 11 DRIVING THE INVERTER VIA CANopen NETWORK

There are the following two ways to drive the inverter via CANopen network.
(1) Driving with CANopen Drive Profile (DSP 402)
(2) Driving with Inverter's Function Code S06

11.1 Driving with CANopen Drive Profile (DSP 402)

(1) List of related objects

Index

(Hex.)

6040 - Controlword
6041 - Statusword Monitors the current status UNSIGNED16 R

6042 - vl target velocity Speed command (r/min) INTEGER16 RW
6044 - vl control effort Speed monitor (r/min) INTEGER16 R

Sub Object name Description Data type Access

Controls the state transition of the state
machine

UNSIGNED16 RW

To drive inverters, it is convenient to use PDO 2 that is capable of sending Controlword and speed
command (vl target velocity) at the same time.

(2) Details of related objects

Controlword

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Fault
reset

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

X4 X3 X2 X1 Reverse 0 0 Halt

0 0 0

Enable

operation

Quick

stop

Enable
voltage

Switch on

bits 0 to 3 : Control the state machine for state transition. See Figure 11.1.
bit 7 Fault reset : Change from 0 to 1 to reset an alarm.
bit 8 Halt : 1 = Fix the inverter’s output speed at 0 r/min
bit 11 Reverse : Specify the rotational direction. 0 = Forward, 1 = Reverse.
bits 12 to 15 : Turn digital input terminals [X1] to [X4] off or on. 0 = OFF, 1 = ON

ENGLISH

33

Statusword

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Warning

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

Direction

of rotation

Switch on

disabled

0 0 0

Quick

stop

Voltage

enabled

Fault

Internal limit

active

Operation

enabled

Target

reached

Switched

On

Remote 0

Ready to

switch on

bits 0 to 2, 5, 6 : Status display of the state machine. See Figure 11.1.
bit 3 Fault : 1 = Tripped
bit 4 Voltage enabled : 1 = Voltage applied to the main circuit
bit 7 Warning : Not used. Fixed at 0.
bit 9 Remote : 1 = Either one of speed and run commands via CANopen is valid.
bit 10 Target reached : 1 = Reference speed reached
bit 11 Internal limit active : 1 = Torque, voltage, or current limiter activated
bit 15 Direction of rotation : 0 = Forward or stop, 1 = Reverse

vl target velocity

This specifies the speed command (r/min). Data setting range: -32768 to 32767 r/min

vl control effort

This monitors the current output speed to display (r/min). Output range: -32768 to 32767 r/min

(3) State machine

Operating the state machine (the state transition flow in Figure 11.1) stipulated in the DSP 402 drives the
inverter. Controlword (CTW in the figure) causes the state transition of the state machine, and Statusword (STW
in the figure) monitors the state.

Table 11.1 lists the commands to the inverter at each of the state transition times.

Transition to State 5 "Operation enabled" (see Figure 11.1) runs the inverter.

34

Note: In this flow, the upper bytes
of the CTW and STW are omitted
since they are independent of the
state machine.
1: True, 0: False,
x: No related function

Start

From all states

13 Alarm occurred

Internal initialization completed

CTW=0xxx 0000

9

CTW=0xxx x110

CTW=0xxx x111

CTW=0xxx x110

8

1. Not ready to switch on
STW= x00x 0000

2. Switch on disabled
STW= x10x 0000

3. Ready to switch on
STW= x01x 0001

4. Switched on

STW= x01x 0011

CTW=0xxx 1111

5. Operation enabled
STW= x01x 0111

7. Fault reaction active
STW= x0xx 1111

1

2

4

CTW=0xxx xx0x

7

CTW=0xxx x0xx

CTW=0xxx 0110

63

CTW=0xxx 0111

5

Reset trip

or

CTW=1xxx xxxx

15

or

10

CTW=0xxx x01x

11

CTW=0xxx xx0x
CTW=0xxx x0xx

6. Quick stop active

14 Output shutdown (Trip)

8. Fault

STW= x00x 1000

or

STW= x00x 0111

Output shutdown

12

or

CTW=0xxx x00x

Figure 11.1 State Machine

Table 11.1 Relationship between State Machine and Inverter Status

State No. Name Inverter status
1 Not ready to switch on Initialization of the CANopen communications card in progress

2 Switch on disabled Inverter alarm released
3 Ready to switch on Inverter output shut down
4 Switched on Inverter stopped (Run command OFF)
5 Operation enabled Inverter running (Run command ON)
6 Quick stop active Inverter quick stopped (within the time specified by Index 604A)
7 Fault reaction active Alarm detected
8 Fault Inverter tripped

ENGLISH

35

(4) Communication example

This section gives an actual communication example that controls the DSP 402 state machine in order to drive
the inverter. This example uses PDO 2 under the following conditions.

- Node-ID of the inverter (communications card): 1 (Inverter's function code o31 = 1)

- Transmit PDOs 1 and 3: Disabled
That is, Index 1800 sub 1 = 0x80000181 and Index 1802 sub 1 = 0x80000381

- All other CANopen objects: Defaults

- Inverter's function code y98 = 3

The format of PDO 2 is shown below.

Receive PDO (Master Inverter)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3

0x301

Controlword

(L byte) (H byte)

vl_target_velocity

(L byte) (H byte)

Transmit PDO (Inverter Master)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3

0x281

Statusword

(L byte) (H byte)

vl_control_effort

(L byte) (H byte)

1) Upon receipt of Start_Remote_Node service from the master, the inverter shifts to the Operational state
(The green RUN LED on the communications card comes ON.) in which it is ready for PDO communication.
At the same time, the inverter responds to the master with the following transmit PDO 2. The lower byte of
Statusword (Bytes 0 and 1) is 50, indicating that the state machine is in state 2.

Transmit PDO

(Inverter Master)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3

0x281 50 02 00 00

2) To shift the state machine from state 2 to state 3, send the following data in Controlword (Bytes 0 and 1)
from the master.

Receive PDO

(Master Inverter)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3

0x301 06 00 00 00

Upon receipt of the above, the inverter responds to the master with the following transmit PDO. The lower

byte of Statusword (Bytes 0 and 1) is 31, indicating that the state machine is in state 3.

Transmit PDO

(Inverter Master)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3

0x281 31 02 00 00

36

3) To shift the state machine from state 3 to state 4, send the following data in Controlword (Bytes 0 and 1)
from the master.

Receive PDO

(Master Inverter)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3

0x301 07 00 00 00

Upon receipt of the above, the inverter responds to the master with the following transmit PDO. The lower

byte of Statusword (Bytes 0 and 1) is 33, indicating that the state machine is in state 4.

Transmit PDO

(Inverter Master)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3

0x281 33 02 00 00

4) To shift the state machine from state 4 to state 5 (Run forward command) and issue a speed command,
send the following data in Controlword from the master. In this example, enter the speed command 1800
r/min (= 0x0708) to vl_target_velocity (Bytes 2 and 3).

Receive PDO

(Master Inverter)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3

0x301 0F 00 08 07

Upon receipt of the above, the inverter starts running, accelerating to a speed of 1800 r/min. The lower byte

of Statusword (Bytes 0 and 1) is 37, indicating that the state machine is in state 5. During acceleration, the
output speed monitor vl_control_effort (Bytes 2 and 3) changes its value, so the inverter sends the following
data continually until the inverter reaches the target speed.

Transmit PDO

(Inverter Master)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3

0x281 37 02 ** **

5) To stop the inverter, shift the state machine from state 5 to state 4.

Receive PDO

(Master Inverter)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3

0x301 07 00 08 07

Upon receipt of the above, the inverter starts decelerating. The lower byte of Statusword (Bytes 0 and 1) is

33, indicating that the state machine is state 4. During deceleration also, the output speed monitor
vl_control_effort (Bytes 2 and 3) changes its value, so the inverter sends the following data continually until
the inverter comes to a stop.

Transmit PDO

(Inverter Master)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3

0x281 33 02 ** **

ENGLISH

37

11.2 Driving with Inverter's Function Code S06

w

Important

To enable run commands specified by S06, all of the following conditions should be satisfied.

- Receive PDOs 1 and 2: Disabled
That is, Index 1400 sub 1 = 0x80000xxx and Index 1401 sub 1 = 0x80000xxx

- DSP 402 state machine: State 2

- Inverter's function code y98 = 2 or 3

(1) List of related objects

Index

(Hex.)

5F02 07 Inverter's function code S06 Run command (Note) UNSIGNED16 RW
5F03 0F Inverter's function code M14 Monitors the running status UNSIGNED16 R
5F02 06 Inverter's function code S05 Frequency command (in units of 0.01 Hz) INTEGER16 RW

5F03 0A Inverter's function code M09

Sub Object name Description Data type Access

Monitors the output frequency
(in units of 0.01 Hz)

INTEGER16 R

Inverters driven by S06 do not pursue the DSP 402 state machine, so the Statusword does not sho
the inverter status. Use inverter's function code M14, instead.

To drive inverters with S06, using PDO3 is convenient. For details about PDO 3, refer to Chapter 7
"PDO PROTOCOL."

(2) Details of related objects

Inverter's communication-dedicated function code S06

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

X6 X5 X4 X3 X2 X1 REV FWD

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

RST XR XF 0 0 X9 X8 X7

bit 0 FWD : 1 = Run forward command
bit 1 REV : 1 = Run reverse command
bits 2 to 10, X1 to X9 : Communication control input terminals

(Digital input terminals [X1] to [X9] supported by FRENIC-MEGA.)

bits 13,14 XF, XR : Communication control input terminals

(Digital input terminals [XF] (FWD) and [XR] (REV))

bit 15 RST : Change from 0 to 1 to clear the tripped state.

38

Inverter's communication-dedicated function code M14

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

VL TL NUV BRK INT EXT REV FWD

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

BUSY 0 0 RL ALM DEC ACC IL

bit 0 FWD : 1 = Running forward
bit 1 REV : 1 = Running reverse
bit 2 EXT : 1 = During DC braking or pre-exciting
bit 3 INT : 1 = Inverter shutdown
bit 4 BRK : 1 = Braking
bit 5 NUV : 1 = DC link bus voltage established
bit 6 TL : 1 = Torque limiting
bit 7 VL : 1 = Output voltage limiting
bit 8 IL : 1 = Output current limiting
bit 9 ACC : 1 = During acceleration
bit 10 DEC : 1 = During deceleration
bit 11 ALM : 1 = Alarm relay output
bit 12 RL : 1 = Communication active
bit 15 BUSY : 1 = Busy in writing function codes

Inverter's communication-dedicated function code S05

This specifies the frequency command in units of 0.01 Hz. Data setting range: -327.68 to 327.67 Hz

Inverter's communication-dedicated function code M09

This shows the current output frequency in units of 0.01 Hz. Data setting range: -327.68 to 327.67 Hz

ENGLISH

39

(3) Communication example

This section gives an actual communication example that uses S06 in order to drive the inverter. This example
uses PDO 3 under the following conditions.

- Node-ID of the inverter (communications card): 1 (Inverter's function code o31 = 1)

- Assignment of PDO 3
o40 = 0206 (Function code 1 for write = S06) o48 = 030E (Function code 1 for read = M14)

o41 = 0205 (Function code 2 for write = S05) o49 = 0309 (Function code 2 for read = M09)
o42 = 0000 (Function code 3 for write = None) o50 = 0000 (Function code 3 for read = None)

o43 = 0000 (Function code 4 for write = None) o51 = 0000 (Function code 4 for read = None)

- Receive PDOs 1 and 2: Disabled

That is, Index 1400 sub 1 = 0x80000201 and Index 1401 sub 1 = 0x80000301

- Transmit PDOs 1 and 2: Disabled

That is, Index 1800 sub 1 = 0x80000181 and Index 1801 sub 1 = x80000281

- All other CANopen objects: Defaults

- Inverter's function code y98 = 3

The format of PDO 3 assigned as above is shown below.

Receive PDO (Master Inverter)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

0x401

S06

(L byte) (H B byte)

Transmit PDO (Inverter Master)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

0x381

M14

(L byte) (H byte)

S05

(L byte) (H byte)

M09

(L byte) (H byte)

No assignment No assignment

No assignment No assignment

40

1) Upon receipt of Start_Remote_Node service from the master, the inverter shifts to the Operational state
(green RUN LED ON) in which it is ready for PDO communication. At the same time, the inverter responds
to the master with the following transmit PDO 3.

Transmit PDO

(Inverter Master)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Bytes 4 to 7

0x381 28 10 00 00 00000000

2) To send the run command "S06 = 1 (FWD = 1)" and the frequency command "S05 = 50.00 Hz (=0x1388)",
enter the data as shown below.

Receive PDO

(Master Inverter)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Bytes 4 to 7

0x401 01 00 88 13 00000000

Upon receipt of the above, the inverter starts running. When it reaches the reference speed, it sends the

following transmit PDO.

Transmit PDO

(Inverter Master)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Bytes 4 to 7

0x381 21 10 88 13 00000000

3) To stop the inverter, send "S06 = 0 (FWD = 0)" from the master.

Receive PDO

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Bytes 4 to 7

(Master Inverter)

0x401 00 00 88 13 00000000

Upon receipt of the above, the inverter starts decelerating. When it comes to a stop, it sends the following

transmit PDO.

Transmit PDO

(Inverter Master)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Bytes 4 to 7

0x381 28 10 00 00 00000000

4) To run the inverter in the reverse direction, send "S06 = 2 (REV = 1)" from the master.

Receive PDO

(Master Inverter)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Bytes 4 to 7

0x401 02 00 88 13 00000000

Upon receipt of the above, the inverter starts running in the reverse direction. When it reaches the

reference speed, it sends the following transmit PDO.

Transmit PDO

(Inverter Master)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Bytes 4 to 7

0x381 22 10 88 13 00000000

ENGLISH

41

Chapter 12 Heartbeat and Node Guarding

r

Heartbeat and Node Guarding are services for detecting a communications link break. It is recommended that
either one of them be used.

Important Use of either Heartbeat or Node Guarding is recommended.

At the factory, CANopen devices are so set up that their link break detectors are disabled. Unless the
user enables the link break detector, the CANopen network including the communications card does
not detect a communications link break if any. It is strongly recommended that the link break detecto
be enabled

12.1 Heartbeat

The heartbeat service monitors signals transmitted by the specified node in order to detect a CANopen network
break.

For details about Heartbeat, refer to the CANopen Specifications DS 301.

The concurrent use of Heartbeat and Node Guarding is prohibited. The concurrent use blocks a
normal detection of a CANopen network break. To use Heartbeat, disable Node Guarding by setting
"0" to both Indexes 100C and 100D (Refer to Section 12.2).

(1) List of related objects

Index

(Hex.)

1016

1017 - Producer heartbeat time

Sub Object name Description Data type Access

- Consumer heartbeat time ARRAY

0 Number of entries Structures: 1 UNSIGNED8 R

Upper word: Node-ID of monitor target

1 Consumer heartbeat time

Lower word: Heartbeat monitoring time
Default: 0 (Disable)
Heartbeat message transmitting cycle

Default: 0 (Disabled)

UNSIGNED32 RW

UNSIGNED16 RW

(2) Consumer heartbeat time

The heartbeat consumer monitors whether it is receiving a heartbeat signal transmitted by the specified node
(heartbeat producer) in the specified cycle.

The format is shown below. If the heartbeat consumer fails to receive a heartbeat signal within the specified
monitoring time, it will be judged as an occurrence of a CANopen network break.

For inverter reactions to apply when a CANopen network break occurs, refer to Chapter 13 "INVERTER
REACTIONS TO CANopen NETWORK BREAKS."

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

0000

Node-ID of

monitor target

Heartbeat monitoring time (ms)

(3) Producer heartbeat time

The heartbeat producer automatically keeps transmitting a heartbeat signal in the specified cycle (in units of 1
ms). Any other node(s) (heartbeat consumer) monitors the heartbeat signal.

42

12.2 Node Guarding

The Node Guarding service monitors guarding signals transmitted in a pre-defined cycle by a CANopen master
in order to detect a CANopen network break.

For details about Node Guarding, refer to the CANopen Specifications DS 301.

The concurrent use of Heartbeat and Node Guarding is prohibited. The concurrent use blocks a
normal detection of a CANopen network break. To use Node Guarding, disable Heartbeat by setting
"0" to both Indexes 1016 and 1017 (Refer to Section 12.1).

(1) List of related objects

Index

(Hex.)

100C - Guard time

100D - Life time factor

Sub Object name Description Data type Access

Guarding receiving interval (ms)
Default: 0 (Disable)

Guarding time factor
Default: 0 (Disable)

UNSIGNED16 RW

UNSIGNED8 RW

(2) Guard time and life time factor

The guard time and the life time factor define the receiving interval of a guarding signal transmitted by the
CANopen master. If no guarding signal is received within the specified receiving time, it is judged as an
occurrence of a CANopen network break.

The receiving interval is calculated with the following expression.

Guarding receiving interval (ms) = Guard time (ms) Life time factor
Example: If the guard time is 100 ms and the life time factor is 5,

Guarding receiving interval = 100 ms 5 = 500 ms

For inverter reactions to apply when a CANopen network break occurs, refer to Chapter 13 "INVERTER
REACTIONS TO CANopen NETWORK BREAKS."

ENGLISH

43

Chapter 13 INVERTER REACTIONS TO CANopen NETWORK BREAKS

Inverter's function codes o27 and o28 define inverter reactions to apply if the inverter detects a CANopen
network break, as listed in Table 13.1.

In any of the following cases, the communications card judges it as an occurrence of a network break.

- Network break detected by Consumer Heartbeat or Node Guarding

- Occurrence of bus-off in CAN

For details about Consumer Heartbeat or Node Guarding, refer to Chapter 12 "Heartbeat and Node
Guarding."

If a communications error occurs, the LED status indicators on the communications card indicate the error
state. For details, refer to Chapter 2, Section 2.3 "LED Status Indicators."

Table 13.1 Inverter Reactions to CANopen Network Breaks, Defined by Function Codes o27 and o28

o27 o28 Inverter Reactions to CANopen Network Breaks Remarks

0,
4 to 9

1 0.0 to 60.0 s After the time specified by o28, coast to a stop and

2 0.0 to 60.0 s If the inverter receives any data within the time

3,
13 to
15

10 Invalid Immediately decelerate to a stop.

11 0.0 to 60.0 s After the time specified by o28, decelerate to a stop.

12 0.0 to 60.0 s If the inverter receives any data within the time

Invalid Immediately coast to a stop and trip with .

trip with .

specified by o28, ignore the communications error.
After the timeout, coast to a stop and trip with .

Invalid Keep the current operation, ignoring the

communications error. (No trip)

Issue after stopping.

Issue after stopping.

specified by o28, ignore the communications error.
After the timeout, decelerate to a stop and trip with

.

If a communications error is
detected, the LED indicates
the error state.

The inverter's function code
F08 specifies the
deceleration time.

Same as above.

Same as above.

44

Chapter 14 LIST OF INVERTER ALARM CODES

There are the following two ways to read out alarm codes generated when the inverter itself trips, via the
CANopen network.

(1) Read out alarm codes stipulated in CANopen from Index 1003 sub 1 Standard error field or Index 603F

Error code.
Tip: If an alarm occurs, CANopen service automatically sends an EMCY message to the CANopen master

(see Chapter 9) and writes the alarm code into Index 1003 sub 1 Standard error field and Index 603F Error
code. Note that the EMCY message cannot be retained so that it cannot be read out later.

(2) Read out alarm codes using inverter's function codes M16, M17, M18, and M19 (latest, last, 2nd last, and

3rd last alarm codes).

Table 14.1 lists alarm codes available.

Table 14.1 Alarm Codes

Alarm codes

Error

field

0000 0 (00H)

M16 to

M19

Description Display

No alarm

--- 7310 27 (1BH)

Alarm codes

Error

field

M16 to

M19

Description Display

Overspeed

2310 1 (01H)

2310 2 (02H)

2310 3 (03H)

2120 5 (05H)

3210 6 (06H)

3210 7 (07H)

3210 8 (08H)

3220 10 (0AH)
3130 11 (0BH)
5450 14 (0EH)

5440 16 (10H)
4210 17 (11H)

Overcurrent
(during acceleration)

Overcurrent
(during deceleration)

Overcurrent (during
running at constant speed)

Grounding fault
Overvoltage

(during acceleration)
Overvoltage

(during deceleration)
Overvoltage

(during running at constant
speed or being stopped)

Undervoltage
Input phase loss

Blown fuse

Charging circuit fault
Heatsink overheat

7301 28 (1CH)

7300 29 (1DH)

5500 31 (1FH)

7520 32 (20H)

5220 33 (21H)

7510 34 (22H)

8100 35 (23H)

F004 36 (24H)

7200 37 (25H)
7510 38 (26H)

4310 44 (2BH)
4310 45 (2CH)

PG wire break

NTC thermistor wire break

Memory error
Keypad communication

error
CPU error
Communications card

hardware error
CANopen communications

error

Operation protection
Tuning error

RS-485 communications
error (COM port 1)

Overload of motor 3
Overload of motor 4

ENGLISH

9000 18 (12H)
4210 19 (13H)

4310 20 (14H)

4210 22 (16H)

4310 23 (17H)
4310 24 (18H)
4110 25 (19H)

External alarm

Inverter overheat

Motor protection
(PTC/NTC thermistor)

Braking resistor overheat

Overload of motor 1
Overload of motor 2

Inverter overload

3300 46 (2EH)
8400 47 (2FH)

3221 51 (33H)

7510 53 (35H)

5220 54 (36H)
7200 58 (3AH)
5400 59 (3BH)

45

Output phase loss
Speed mismatch

(Excessive speed
deviation)

Data save error due to
undervoltage

RS-485 communications
error (COM port 2)

Hardware error
PID feedback wire break
Braking transistor broken

Table 14.1 Alarm Codes (Continued)

Alarm codes

Error

field
FF00 254 (FE H) Mock alarm

8110 --- CAN overrun ---
8120 --- CAN error passive ---
8130 --- Heartbeat error or Node

8140 --- Recovery from Bus-off

M16 to

M19

Description Display

---
Guarding error
(Detection of CANopen
network break)

(See Note.)

---
(See Note.)

Alarm codes

Error

field

M16 to

M19

Description Display

(Note) If this error occurs, the inverter issues in accordance with the o27 setting.

46

Chapter 15 NOTES ON USE OF COMMUNICATIONS CARD

This chapter provides notes on the use of the communications card.
(1) Avoid using the communications card with Transmission type = 255 (Transmit every time data changes) in

both transmit PDOs (TPDOs) 2 and 3 and Inhibit time = 0 at the same time. Such settings result in a lot of
CANopen network traffic depending upon the frequency of data changes, degrading the intrinsic
performance of the communications card. Decrease the transmission frequency in either one of TPDOs 2
and 3 by increasing the Inhibit time or using Sync signals.

(2) The resolution of the timer on the communications timer is 2 ms. Specifying an odd value to an object

containing a timer automatically raises it to the nearest even value. Specification of 21 ms, for example, is
treated as 22 ms.

(3) To stop auto tuning triggered via CANopen network (Writing to inverter's function code P04, A18, b18 or

r18), write "0" to the corresponding function code.

ENGLISH

47

Chapter 16 SPECIFICATIONS

16.1 Operating Environment

Table 16.1 lists the environmental requirements for the inverter equipped with the communications card. For the
items not covered in this section, the specifications of the inverter itself apply.

Table 16.1 Environmental Requirements

Item Specifications
Site location Indoors
Surrounding temperature Refer to the FRENIC-MEGA Instruction Manual, Chapter 2.
Relative humidity 5 to 95% (No condensation)
Atmosphere

Altitude 1,000 m max.
Atmospheric pressure 86 to 106 kPa
Vibration Refer to the FRENIC-MEGA Instruction Manual, Chapter 2.
Applicable inverters FRENIC-MEGA series of inverters, ROM Ver. 1000 or later

(Note) Do not install the inverter in an environment where it may be exposed to lint, cotton waste or moist dust or dirt which will

clog the heat sink of the inverter. If the inverter is to be used in such an environment, install it in a dustproof panel of your
system.

The inverter must not be exposed to dust, direct sunlight, corrosive gases, flammable
gases, oil mist, vapor or water drops.

Pollution degree 2 (IEC60664-1) (Note)
The atmosphere can contain a small amount of salt.
(0.01 mg/cm2 or less per year)
The inverter must not be subjected to sudden changes in temperature that will

cause condensation to form.

16.2 CANopen Specifications

Table 16.2 lists the CANopen specifications for this communications card. For the items not covered in this
section, the specifications of the CANopen apply.

Table 16.2 CANopen Specifications

Item Specifications Remarks
Physical layer CAN (ISO11898)
Node-ID 1 to 127 Specified by inverter's function code o31.
Baud rate 20/50/125/250/500/800 kbit/s

1 Mbit/s
Maximum cable length See Table 16.3.
Applicable profile Compliance with the following profile;

- CiA DS 301 Ver. 4.02

- CiA DS 402 Ver. 2.0 with Velocity Mode

Table 16.3 Maximum Cabling Length for CANopen Communication

Baud rate (bit/s) 20 k 50 k 125 k 250 k 500 k 800 k 1 M

Maximum cabling length 2500 m 1000 m 500 m 250 m 100 m 50 m 25 m

Specified by inverter's function code o32.

48

CANopen Communications Card

"OPC-G1-COP"

Instruction Manual

First Edition, July 2008
Second Edition, April 2011

Fuji Electric Co., Ltd.

The purpose of this manual is to provide accurate information in the handling, setting up and operating of the
CANopen Communications Card for the FRENIC-MEGA series of inverters. Please feel free to send your
comments regarding any errors or omissions you may have found, or any suggestions you may have for
generally improving the manual.

In no event will Fuji Electric Co., Ltd. be liable for any direct or indirect damages resulting from the application of
the information in this manual.

URL http://www.fujielectric.co.jp/

Fuji Electric Co., Ltd.

Gate City Ohsaki, East Tower, 11-2, Osaki 1-chome,
Shinagawa-ku, Tokyo, 141-0032, Japan

Phone: [phone] Fax: [phone]

URL http://www.fujielectric.com/

2011-04 (D11a/G08) 1CM