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

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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.

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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.

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.

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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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

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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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.

Wrong connection between the communications card and FRENIC-MEGA

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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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)

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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Chapter 4 WIRING AND CABLING

• 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

V W

CAN_GND

CAN_L

CAN_H

CAN_SHILD

4 5

CAN_V+

5 1

2 3

Motor

CANopen dedicated cable

*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.

Figure 4.1 Basic Connection Diagram

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

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

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

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

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

o31

o32

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

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

o27

Select the inverter’s operation mode to

apply when a CANopen communications error occurs.

o28

Set the operation timer to apply when a

CANopen communications error occurs.

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).

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)

Function code

setting range

0000 to FFFF (hex) These settings

0000 to FFFF (hex)

Remarks

are used in PDO

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