Hitachi SJ2-CO User manual

INSTRUCTION MANUAL
Thank you for purchase of “SJ2-CO (CANopen Interface Option)”.
This anual explains about treat ent of “SJ2-CO”. By reading this
anual and an instruction anual of inverter use practically for
installation, aintenance, and inspection. After reading this anual,
keep it handy for future reference.
Make sure to deliver this anual to the end user.
Table of Contents
Chapter1 Introduction 1
Chapter2 Mounting ethod of option 4
Chapter3 Wiring, Connecting 7
Chapter4 Setting 9
Chapter5 CANopen co unication function 11
Chapter6 Counter easure for abnor ality 21
Chapter7 Co unication Objects Lists 23
Chapter8
Specifications 30
Chapter9 Contact infor ation 31
SJ200-2/L200-2 SERIES
SJ2-CO
(CANopen Interface Option)
NB654X
Hitachi Inverter
After rea ing this manual, keep it at han y for future reference.

- Request -
Thank you for purchase of “SJ2-CO (CANopen Interface Option)”.
This instruction anual explains about treat ent and aintenance of “SJ2-CO”. Before using the product,
carefully read this anual with the instruction anual of inverter, and keeps it handy for quick reference of
operator and aintenance inspector. Before installing, operating, aintenance and inspection read this
anual carefully and follow the instructions exactly.
Always keep various kinds of specifications entioned in this anual and use exactly. And ake sure to
prevent trouble by correct inspection and aintenance. Make sure to reach this anual to the end user.
- About treat ent of this anual -
(1)Please consent that entioned ite s of this anual ay be change without per ission.
(2)Keep this anual carefully not to lose because it can not be reissued
(3)All right reserved.
(4)Please contact the Hitachi inverter dealer fro who you purchased the unit, if you have so e
doubts about spelling istakes, o itted word etc.
(5)Please agree that there is no responsibility for effects resulted, in spite of contents above
entioned.
Revision History Table
No.Revision contents The date of issued Manual No.
1. Initial release of Manual NB654X June. 2006 NB654X
Except this table, revised only spelling istakes o itted words, and error writings without notice.

SAFETY PRECAUTIONS
!
SAFTY PRECAUTIONS
Carefully read this anual and all of the warning labels attached to the inverter before installing,
operating, aintaining, inspecting, it. Safety precautions are classified into “Warning” and “Caution” in this
anual.
：Indicates a potentially hazardous situation which, if not avoided, can result in serious
injury or death.
：Indicates a potentially hazardous situation which, if not avoided, can result in inor to
oderate injury, or serous da age to the product
The situation described in ay, if not avoided, lead to serious results. I portant safety
easures are described in CAUTION (as well as WARNING) so be sure observe the .
Notes are described in this anual in “(Note)”. Carefully read the contents and follow the exactly.
CAUTION
In all the illustrations in this anual, covers and safely device are occasionally re oved to describe the
details. When the product is operated, ake sure that the covers and safety devices are placed as they
were specified originally and operate it according to the instruction anual.
WARNING
!
CAUTIO
!
CAUTION
!

SAFETY PRECAUTIONS
!
!
WARNING
Wiring:
Wiring work shall be carried out by electrical experts.
Otherwise, there is a anger of electric shock, fire an /or amage of pro uct.
I ple ent wiring after checking that the power supply is off.
Otherwise, there is a anger of electric shock an /or fire.
Operating:
Be sure not to touch the surface or the ter inal of option board while energizing.
Otherwise, there is a anger of electric shock an /or fire.
Be sure not to re ove the Canopen option printed board while operating.
Otherwise, there is a anger of electric shock an /or fire.
Maintenance, Inspection and Part Replace ent:
Wait at least 5 inutes after turning off the input power supply before perfor ing aintenance and
inspection.
(Make sure the “POW” LED display on the inverter is off and DC voltage between P-N ter inals is less
than 45V)
Otherwise, there is a anger of electric shock.
Make sure that only qualified persons will perfor aintenance, inspection, and part replace ent
(Before starting the work, re ove etallic objects fro your person (wristwatch, bracelet, etc.).
Be sure to use tools protected with insulation.)
Otherwise, there is a anger of electric shock an /or injury.
Note:
Never odify the unit.
Otherwise, there is a anger of electric shock an /or injury.
CAUTION
Installation:
Be sure not to let the foreign atter enter such as wire clippings, spatter fro welding, etal shaving,
dust etc.
Otherwise, there is a anger of fire.
Be sure to fix inverter to option printed board with an attached fixed screw.
Otherwise, there is a anger of connecting error.
Be sure to fasten the screws connecting signal wire in side of option printed board. Check for any
loosening of screw.
Otherwise, there is a anger of connecting error.
Wiring:
Be sure to fasten the screws not to loose.
Otherwise, there is a anger of connecting error.
Operation:
Check rotary direction, abnor al otor noise and vibrations during operating.
Otherwise, there is a anger of injury to personnel an /or machine breakage

CHAPTER 1 INTRODUCTION
1
1.1 INSPECTION UPON UNPACKING
Make sure to treat the product carefully not to give shock and vibration while unpacking. Check that the
product is the one you ordered, no defect, and that there is no da age during transportation.
(Contents of packing)
(1) SJ2-CO(CANopen Interface option ):1
(2) Instruction anual:1
(3) CANopen connector:1
(4) The screw which fixes a facecover (M3 ti es 8 ):1
(5) Bus resister(120Ω):1
If you discover any proble s, contact the Hitachi inverter dealer fro who you purchased the unit
i ediately.
1.2 INQUIRY OF THE PRODUCT AND WARRANTY FOR THE PRODUCT
1.2.1 Request upon inquiring
If inquiry of breakage, question, da age etc. is needed, please tell the following infor ation to the supplier
you ordered.
(1) Type(SJ2-CO)
(2) Manufacturing nu ber (MFG No. (See 1.5
SJ2-CO Specifications Label ))
(3) Date of purchasing
(4) Contents of inquiry
・ Da age parts and its condition etc.
・ Question parts and their contents etc.
In order to shorten i possible working ti e, standing spare unit is reco ended.
1.2.2 Warranty of the product
This product is guaranteed one year after the purchase. But, the next case is toll repair, even if within
warranty period.
(1) In case caused by operating istake, and incorrect repair and odification.
(2) Trouble caused by reasons except the shipped product.
(3) In case of using in range over the value of specifications.
(4) In case caused by natural cala ity, disaster, and secondary disaster.
Warranty entioned here eans warranty for shipped product itself. Da age caused by trouble of shipped
product is not guaranteed.
[Replace ent]
Any inspection and replace ent after the expiration of warranty period (one-year) shall be charged to the
purchaser. And also any inspection and replace ent which are not covered in warranty entioned above,
even if it is within warranty period, it shall be charged to the purchaser. If you require the replace ent,
please contact the Hitachi inverter dealer fro who you purchased the unit.

CHAPTER 1 INTRODUCTION
2
1.3 Appearance and Na es of Parts
Power supply(POW)
Inverter Status(RUN)
Bus ready
(in CANopen this LED always green)
CAN bus Interface
Inverter condition ode(MOD)
CANbus Status(CAN)
Baud rate & Node ID setting(See 4.1.2)
Figure 1-1 Appearance of SJ2-CO
LED display

CHAPTER 1 INTRODUCTION
3
1.4 CANopen Support Version
SJ2-CO can use following Inverter odel of SJ200-2/L200-2.
SJ200-2 -0.2-7.5kW
L200-2 -0.2-7.5kW
How to distinguish SJ200-2(L200-2) fro SJ200(L200)
1.5 Specifications Label
There is the Specifications Label of SJ2-CO on the back side.
1.6 LED display
LED Function Color State
Orange Inverter Main power supply is ON.
Power Supply
Blank Both power supplies are OFF.
Red Alar or Inverter ain power supply is OFF.
Green Run
Inverter Status
Stop Stop (Nor al)
Inverter condition ode(MOD) - See 6.4 LED display and Counter easure
CAN condition/status(CAN) - See 6.4 LED display and Counter easure
Green ON
CAN bus power supply(DC+24V)
(Internal power supply) Blank OFF
MADE IN JAPAN
SJ2-CO
MFG No. 67A T25724B6 0001
Hitachi In ustrial Equipment Systems Co.,Lt .
NEXXXXX
odel na e
Manufacturing No.
SJ200(L200) 004 H F E F 2
Series
na e
Applicable
otor
capacity in
Configuration
type
EMC filter
Input
voltage
Restricted
distribution
Version: 2=SJ200-2(L200-2)
space=SJ200 (L200)
6 7 A
year onth
Pro uction time
other odel na es :SJ2-MF,SJ2-CCV

CHAPTER 2 MOUNTING METHOD OF OPTION
4
Figure 2-1 Installation of SJ2-CO (SJ200-2 + SJ2-CO)
Note: Optional operator
(SRW-0J/0EX) cannot be used via SJ2-CO
.
Note : Please ove the OPE/485 dip switch
botto position labeled “OPE”.
2.1 Mounting ethod of option
Please connect the following cables first, and then attach the SJ2-CO to the front cover of SJ/L200-2.
[Installation step]
(1) ounting location
(2) Change the dipswitch position to lower ( OPE )
(3) Connecting the cables
The cables are shown as bellow:
Power input cable, Motor output cable, Input ter inal cable, Output ter inal cable, Analog input cable,
Analog output cable etc
Because the following cables cannot be connected, after the instllation of SJ2-CO.
Figure 2-1 describes how to ount the SJ2-CO to the SJ200-2.
Figure 2-2 describes how to ount the SJ2-CO to the L200-2.
Figure 2-3 describes how to re ove the SJ2-CO to the SJ200-2.
Figure 2-4 describes how to ount the SJ2-CO and operator(OPE-SR ini) to the SJ200-2
Please ount the
SJ2-CO tightly to
the ain body of
the inverter.
Then lift down the
plastic lever.
If the lever is not dropped down,
please lift up the lever, and re ount
the unit again.

CHAPTER 2 MOUNTING METHOD OF OPTION
5
*1:The CANopen connector is connected to the bottom side of the SJ2-CO
SJ2-MF Specifications Label: See 1.5 Specifications Label
Figure 2-2 Installation of SJ2-CO (L200-2 + SJ2-CO + SJ2-MF)
Note : Please ove the OPE/485
dip switch botto position
labeled “OPE”.
Figure 2-3 Remove of SJ2-CO (SJ200-2 + SJ2-CO)
*1
SJ2-MF

CHAPTER 2 MOUNTING METHOD OF OPTION
6
SJ2-CCV (Optional)
HITACHI
OPE-SR ini
Figure 2-4 Installation of option unit (SJ200-2 + SJ2-CO + SJ2-CCV)
SJ200-2
SJ2-CO
SJ2-CCV
SJ2-CCV
SJ2-CCV Specifications Label: See 1.5 Specifications Label

CHAPTER 3 WIRING, CONNECTING
7
3.1 Connection for CANopen connector
SJ2-CO has a Pluggable open connector (Male contacts), and a Network connector (Fe ale contacts)
attached. The inverter and attach connector have a seal which is color coordinated to correspond to the
network cable. Ensure the cable and contact are wired in the sa e color cable.
Cable side connector (attached connector)
Maker Type
Phoenix contact co, Ltd. MSTB 2.5/5ST-5.08 AU
Figure 3-1 Connector specifications
Note:Communication power supply(DC 24V) of SJ2-CO is not required.
Please don’t make a short circuit between PIN 1(Black) and 5(Red).
3.2 Co unication cable for CANopen
Use the connector which confor s to CANopen specifications or five conductor cable and also ake sure
that cable, connector and Network distance confor to CANopen specifications.
Baud rate(kbps) Maxi u Bus length( )
1000
(1M) 25
800 50
500 100
250 250
125 500
50 1000
20 2500
10 5000
Wiring of CANopen
Co unication connector
No
.
Signal
ark Type of signal Cable
color
1 Ground Internal power supply(-) Black
2 CAN_L CAN L bus line(do inant low) Blue
3 DRAIN Optional CAN shield Bare
4 CAN_H CAN H bus line(do inant high) White
5 NC No connect Red
8.3
18.2
15
Dimension
20.3
2.54
White
Black
Color label
Blue
Red
25.4
5.0
Di ension in
No.1 No.5

CHAPTER 3 WIRING, CONNECTING
8
3.3 Wiring note
1.Installing the cable to Network connector ust be done after checking the power supply off and “POW”
LED is “OFF”.
2.Wiring should not have bare cables exposed between connector contacts.
3.Network cables should be fixed without tension. Cables fixed under tension have potential of causing a
co unication fault by to be re oved a connector.
4.A ter inating resistor is not built-in the unit. Please use the accessory of Bus resister(120
Ω ).
5.Ensure external e ergency stop easures are taken to stop the inverter, in the event of a network fault.
(a) Re ove the Power supply of the Inverter when the network aster detects a co unication fault.
(b) When the aster detects a co unication fault, turn on the intelligent input ter inal which would be
allocated (FRS), (RS) and/or (EXT) function.
(c) Setting co and P045 to except “02”.
In this setting, the inverter is tripped, deceleration or free run stop when it detects a co unication
fault itself. (Factory initialization of co and P045 is trip after deceleration stop (code: 01).)
See “4.2 Setting of the Inverter”.
6.Basic co ponents for construction of CANopen application are shown bellow.
Refer to the aster’s description anuals when CANopen Network syste co es into operation.
HITACHI
SJ200-2 SJ200-2
Ter inating
Resistor (120Ω)
Ter inating
resistor
(120Ω)
Multi port Tap
Other slave units
Power
Supply
DC24V
CANopen Master UNIT
(PLC)
Trunk line Trunk line
Drop
line
Multiple Node branching drop line.
Figure 3-2 Example of components for construction of CANopen application
Configurater (PC)
HITACHI
Note:Communication power supply(DC 24V) of SJ2-CO is not required.
Please don’t make a short circuit between PIN 1(Black) and 5(Red).
Ter inating
resistor
(120Ω)

CHAPTER4 SETTING
9
4.1 Setting ethods of Baud rate and Node ID
Follow the procedure below to set Baud rate in CANopen and Node ID, reset the power supply after
changing the setting (setting will be reflected after resetting power supply.). Initial Baud rate: 125kbps,
Initial Node ID: 2.
4.1.1 Setting ethod of CANopen Baud rate
The table below is setting ethod of Baud rate with Dip switch.
Baud rate
(kbps)
Dip switch
Setting Note Baud rate
(kbps)
Dip switch
Setting Note
10 250
25 500
50
For bus
length
greater than
1k bridge
or repeater
device ay
be needed.
800
125 1000
4.1.2 Setting ethod of CANopen Node
Figure left describes the direction of Dip Switches. See below
ON: 1 OFF: 0
Bit increases fro right to left switches. Figure for ula below.
NODE ID = NA64*2
6
+ NA32*2
5
+ NA16*2
4
+ NA08*2
3
+ NA04*2
2
+ NA02*2
1
+ NA01*2
0
NA64 NA16NA32 NA08 NA04 NA02 NA01
DR NODE ID
ON
OFF
1-9 = OFF, 10=ON:
NODE ID = 1
OFF
ON
１
2
３
O
F F
１
2
３
O
F F
１
2
３
O
F F
１
2
３
O
F F
１
2
３
O
F F
１
2
３
O
F F
１
2
３
O
F F
１
2
３
O
F F
1=OFF 2=ON 3=ON

CHAPTER4 SETTING
10
4.2 Para eter setting of the Inverter
Following table describes setting ite s relate SJ200-2/L200-2 series Inverter with connecting SJ2-CO.
Following para eter will appear with connecting SJ2-CO to SJ200-2/L200-2 Inverter.
Para eter Function Range of DATA Initial
DATA Note
P044
Ti er setting of
Co unication
ti eout Whilst
running
0.00~99.99 0.00 **
P045
Inverter action
when
co unication
error
00(TRIP) / 01(TRIP after
deceleration stop)
/ 02(ignore) / 03(Free-RUN)
/ 04(deceleration stop)
01
It is effective when
“Object #6007”
setting is ‘-3’.
P049*
Motor Poles
setting for
revolution per
inutes
0 to 38
(It is possible to set only even
nu ber )
Setting value ‘0’, onitoring unit is
Hz.
Setting value except ‘0’, onitoring
unit is in
-1
.
0
Note*: As “P049 Co and” value is setting ‘0’, unit of “Index 6042,6043,6044,6046,6048-1,6049-1”
is ‘Hz’.
Note**: CANopen Interface Option cannot detect bus-off status with heartbeat. Using P045 co and,
set value of P044 instead of detecting bus-off status.
4.3 Power Supply LED check
If the Power Supply LED(See 1.3) is not ON ,please re ount(See 2.1) the SJ2-CO unit again.

CHAPTER5 CANOPEN COMMUNICATION FUNCTION
11
5.1 Feature of CANopen co unication function
5.1.1 SDO(Service Data Object)
When using the seg ented SDO download and upload services, the co unication software will be
responsible the SDO as a sequence of seg ents.
Explicit transfer has to be supported. Seg ented transfer has to be supported if objects lager than 4
bytes are supported. Optionally the following SDO services for doing a block transfer with higher bus
utilization and perfor ance for large data set size can be i ple ented.
The odel for the SDO co unication is the Client/Sever odel.
CANopen Interface Option uploads and downloads inverter para eters using Object Dictionary
1200h.
Sub-Index Type Meaning Notes
0 UNSIGNED8 Nu ber of supported entries in the record default: 2
1 UNSIGNED32 COB-ID Client -> Server (Receive ID)
2 UNSIGNED32 COB-ID Server -> Client (Trans it ID)
Abort Co e
This protocol is used to i ple ent the abort SDO Transfer Service.
The abort code is standard code of CANopen specifications.
Abort code Description Notes
0503 0000h Toggle bit not alternated.
0504 0000h SDO protocol ti e out.
0504 0001h Client/server co and specifier not valid or unknown.
0504 0005h Out of e ory.
0601 0000h Unsupported access to an object.
0601 0001h Atte pt to read a write only object.
0601 0002h Atte pt to write a read only object.
0602 0000h Object does not exist in the object dictionary.
0604 0041h Object cannot be apped to the PDO.
0604 0042h The nu ber and length of the objects to be apped would exceed
PDO length.
0604 0043h General para eter inco patibility reason.
0606 0000h Access failed due to an hardware error.
0607 0010h Data type does not atch, length of service para eter does not
atch
0607 0012h Data type does not atch, length of service para eter too high
0607 0013h Data type does not atch, length of service para eter too low
0609 0011h Sub-index does not exist.
0609 0030h Value range of para eter exceeded (only for write access)
0609 0031h Value of para eter written too high.
0609 0032h Value of para eter written too low.
0609 0036h Maxi u value is less than ini u value.
0800 0000h general error
0800 0020h Data cannot be transferred or stored to the application.
0800 0021h Data cannot be transferred or stored to the application because of
local control.
0800 0022h Data cannot be transferred or stored to the application because of
the present device state.
0800 0023h
Object dictionary dyna ic generation fails or no object dictionary is
present (e.g. object dictionary is generated fro file and generation
fails because of an file error).

CHAPTER5 CANOPEN COMMUNICATION FUNCTION
12
5.1.2 PDO(Process Data Object)
The real-ti e data transfer is using the PDOs.
There are two kinds of PDO trans ission odes. One is a synchronization (SYNC), the other is
asynchronization essage (Re otely Request, Event Driven, Ti er Driven).
These PDO services use the push / pull odels. The PDOs have Trans it-PDOs ( axi u data size is 8
bytes) and Receive-PDOs ( axi u data size is 8 bytes). These data type and these apping are
defined by the Object Dictionary.
The following table is the PDO para eter indexes, the data types and the objects.
Index Type Object Notes
1400h 20h 1
st
receive PDO co unication para eter
1401h 20h 2
nd
receive PDO co unication para eter
1402h 20h 3
rd
receive PDO co unication para eter
1403h 20h 4
th
receive PDO co unication para eter
1600h 21h 1
st
receive PDO apping para eter
1601h 21h 2
nd
receive PDO apping para eter
1602h 21h 3
rd
receive PDO apping para eter
1603h 21h 4
th
receive PDO apping para eter
1800h 20h 1
st
trans it PDO co unication para eter
1801h 20h 2
nd
trans it PDO co unication para eter
1802h 10h 3
rd
trans it PDO co unication para eter
1803h 20h 4
th
trans it PDO co unication para eter
1A00h 21h 1
st
trans it PDO apping para eter
1A01h 21h 2
nd
trans it PDO apping para eter
1A02h 21h 3
rd
trans it PDO apping para eter
1A03h 21h 4
th
trans it PDO apping para eter
Data type “20h” is a record, which defines the PDO co unication para eter, and it is of the following
for at:
Sub-Index Type Meaning Notes
0h UNSIGNED8 Nu ber of supported entries in the
record Default: 2
1h UNSIGNED32 COB-ID
2h UNSIGNED8 trans it type Default: 255
3h UNSIGNED16 inhibit ti e TPDO only
4h UNSIGNED8 CMS priority group Default: 3
Data type “21h” is a record, which defines the PDO apping para eter and it is of the following
for at:
Sub-Index Type Meaning Notes
0h UNSIGNED8 Nu ber of supported entries in the
record Default: 2
1h
or
1h, 2h
UNSIGNED32
Structure consisting of apped
object index (16 bit), sub-index (8
bits) and object data length in bits.
For exa ple “20010010h” defines
object “2001h”, sub-index “0h”, and
data length of16 bits (=word).

CHAPTER5 CANOPEN COMMUNICATION FUNCTION
13
5.1.3 Device Control
CAN open interface option can use "Velocity Mode" DSP-402 V2.0 drive control profile.
5.1.4 Object Dictionary for Standardized Device Profile Area
CAN open interface option is supported following objects.
Index Meaning Type
6007h abort_connection_option_code Integer16
6040h control word Unsigned16
6041h status word Unsigned16
6042h vl_target_velocity Integer16
6043h vl_velocity_de and Integer16
6044h vl_control_effort Integer16
6046h vl_velocity_ in_ ax_a ount Unsigned 32
6048h vl_velocity_acceleration Ra p
6049h vl_velocity_deceleration Ra p
6060h odes_of_operation Integer8
6061h odes_of_operation_display Integer8
5.1.5 abort_connection_option_code (Index: 6007h)
When co unications between CANopen interface option and HOST cannot be active, inverter
actions will decide following this object setting.
value Action Notes
0 No action Sa e as"P045 setting value 02”
1 No action Sa e as"P045 setting value 02”
2 Disable voltage-(FRS) Sa e as"P045 setting value 03”
3 Quick stop (Deceleration with 2nd setting)
-3 anufacturer specific:
Enable switch for “P045 setting”.
Enable P045 setting.
See 5.1.5 Para eter setting of
SJ200
-4 No Action
-5 No Action
In new CANopen Interface Option, the trigger of this function is ti er out in P044 instead of bus-off
condition.

CHAPTER5 CANOPEN COMMUNICATION FUNCTION
14
5.1.6 Control word (Index: 6040h)
The control word is used to send control co ands to the inverter. (HOST-> Inverter)
Bit Description Note
0Switch On－Stop Mandatory
1Disable Voltage－Free Run Stop Mandatory
2Quick stop－Stop using 2CH setting Mandatory
3Enable Operation－Run Mandatory
4 RFG Enable Mode Specific
5 RFG Unlock Mode Specific
6 RFG Usr ref Mode Specific
7 Reset Fault (raising edge) Mandatory
8 Halt Mode Specific
9 (Undefined) Reserved
10 (Undefined) Reserved
11 RDY Function Enable Manufacturer Specific
12 NetRef Manufacturer Specific
13 NetCtrl Manufacturer Specific
14 Move forward Manufacturer Specific
15 Move reverse Manufacturer Specific
To use setting frequency fro CANopen, please set bit NetRef(bit 12). An inverter para eter A001
is set 10(Calculate function output) with setting NetRef bit is 1, Calculate function output will not
work.
To handle RUN/STOP co and for CANopen, you have to set a bit NetCtrl.

CHAPTER5 CANOPEN COMMUNICATION FUNCTION
15
5.1.7 Status word (Index: 6041h)
The status word indicates the current state of the inverter.
Bit Description Note
0 Ready to switch on Mandatory
1 Switched on Mandatory
2 Operation enabled Mandatory
3 Fault Mandatory
4 Voltage enabled (~V1.04) Voltage disable -> enabled Mandatory
5 Quick stop Mandatory
6 Switch on disabled Mandatory
7 Warning Unsupported
8 Manufacturer Specific Unsupported
9 Re ote Mandatory
10 Target reached Mandatory
11 Internal Li it Active “Index 6046” influences this bit. Mandatory
12 (reserved) (reserved) Mode Specific
13 (reserved) (reserved) Mode Specific
14 Moving forwards
15 Moving backwards
Bit apping of Status word
Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0
Inverter Switch On
Disable
Quick
Stop Fault Operation
Enable Switch On Ready to
Switch On
Not Ready to
Switch On
0 X 0 0 0 0
Switch On
Disabled
1 X 0 0 0 0
Ready to
Switch On
0 1 0 0 0 1
Switched On 0 1 0 0 1 1
Operation Enabled 0 1 0 1 1 1
Fault 0 X 1 1 1 1
Fault Reaction
Active
0 X 1 1 1 1
Quick Stop 0 0 0 1 1 1
‘X’ eans that any value is allowed.

CHAPTER5 CANOPEN COMMUNICATION FUNCTION
16
5.1.8 State Machine
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Co and bit of
Control word Fault Reset Enable
Operation Quick Stop Disable
Voltage Switch On Transition
Shutdown 0 X 1 1 0 2,6,8
Switch On 0 X 1 1 1 3
Disable Voltage 0 X X 0 X 7,9,10,12
Quick Stop 0 X 0 1 X 7,10,11
Disable Operation 0 0 1 1 1 5
Enable Operation 0 1 1 1 1 4,16
Fault Reset 0 -> 1 X X X X 15
‘X’ eans that any value is allowed.
Power
PowerPower
Power
Enabled
EnabledEnabled
Enabled
Power
PowerPower
Power
Disabled
DisabledDisabled
Disabled
Start up
Not Ready to
Switch On
Switch On
Disabled
Ready to
Switch On
Fault
Reaction Active
Fault
Switched On
Operation
Enable
Quick Stop
Active
0
1
2
7
3
6
9
8
4
5
11
16
10
12
15
14
13