LS ELECTRIC CANopen LSLV-G100 Series User manual

Before using the product
Thank you for using the G100 Series CANopen communication module.

ii
Safety Information
Safety Information
•Always follow safety instructions to prevent accidents and potentially hazardous
situations.
•Safety precautions are classified into "WARNING" and "CAUTION," and their
meanings are as follows:
Improper operation may result in serious personal injury or death.
Improper operation may result in minor personal injury or property damage.
•Symbols used in this document and on the product indicate the following.
Danger may be present. Read the message and carefully follow the instructions.
Close attention should be paid because the risk of electric shock may be present.
•Keep the operating instructions handy for quick reference.
•Read the operating instructions carefully to fully understand the functions of the
G100 series CANopen communication module and use it properly.
•Be careful not to damage the CMOS elements on the communication module.
Static charge may cause malfunctioning of the product.
•Turn off the inverter before connecting communication cables.
Otherwise, the module may be damaged or a communication error may result.
•Correctly install the communication module and ensure that it is firmly connected to
the inverter.
Otherwise, the module may be damaged or a communication error may result.
•Check the parameter units when configuring the parameter values.
Otherwise, a communication error may occur.

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Table of Contents
Table of Contents
1Overview............................................................................................................... 1
1.1 What is CANopen? ....................................................................................................1
1.2 What are the Benefits of Using the CANopen Communication Module? ..................1
1.3 Package Content .......................................................................................................1
2CANopen Communication Module...................................................................... 2
2.1 Technical Specifications ............................................................................................2
2.2 CANopen Communication Module Layout ................................................................3
2.3 Installing the CANopen Communication Module.......................................................4
2.4 Grounding the CANopen Communication Module ....................................................5
2.5 CANopen Connection Terminal Layout.....................................................................6
2.6 Hardware Installation.................................................................................................7
2.7 Maximum Communication Range by Baud Rate.....................................................10
3Device Status and LED indicators .................................................................... 11
3.1 LED Indicators .........................................................................................................11
3.2 Device Status by Indicator Signals..........................................................................11
4CANopen Data Communication Protocol......................................................... 14
4.1 CANopen Communication Protocol.........................................................................14
4.1.1 CAN-ID.......................................................................................................14
4.1.2 SDO Communication.................................................................................15
4.1.3 PDO Communication.................................................................................15
4.2 Network Management (NMT) State Machine ..........................................................17
4.2.1 NMT State "Initialization" ...........................................................................19
4.2.2 NMT State "Pre-operational" .....................................................................19
4.2.3 NMT State "Operational" ...........................................................................19
4.2.4 NMT State "Stopped".................................................................................20
4.2.5 Frame Availability by the NMT Status .......................................................20
4.3 Error Control Protocols ............................................................................................20
4.3.1 Node/Life Guarding Protocol .....................................................................20
4.3.2 Heartbeat Protocol.....................................................................................21
4.4 CANopen EDS File..................................................................................................21
5Detailed Specification of Communication Profile Specific Objects................ 22
5.1 Device Type.............................................................................................................22
5.2 Error Register...........................................................................................................22

Table of Contents
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5.3 Predefined Error Field..............................................................................................24
5.4 COB-ID SYNC Message..........................................................................................25
5.5 Manufacturer Device Name.....................................................................................25
5.6 Manufacturer Hardware Version..............................................................................26
5.7 Manufacturer Software Version...............................................................................26
5.8 Guard Time..............................................................................................................26
5.9 Life Time Factor.......................................................................................................27
5.10 COB-ID EMCY.........................................................................................................27
5.11 Producer Heartbeat Time ........................................................................................27
6Profile.................................................................................................................. 28
6.1 CiA 402 Drive and Motion Control Device Profile....................................................28
6.1.1 Finite State Automation .............................................................................28
6.1.2 CiA 402 SDO .............................................................................................30
6.1.3 SDO for G100 Inverter Operation..............................................................36
6.2 PDO.........................................................................................................................38
6.2.1 RPDO.........................................................................................................38
6.2.2 RPDO MAPPING.......................................................................................39
6.2.3 TPDO.........................................................................................................40
6.2.4 TPDO MAPPING .......................................................................................41
7Inverter Parameters ........................................................................................... 42
7.1 List of Related Parameters......................................................................................42
7.2 Basic Field Bus Parameters ....................................................................................44
7.2.1 Set Command Source for the Inverter–Cmd Source (drv)........................44
7.2.2 Set Frequency Command Source for the Inverter–Freq Ref Src (Frq) .....44
7.2.3 Set Station ID–Fbus ID (CM-07)................................................................44
7.2.4 View Indicator LED States–Fbus Led (CM-9)............................................45
7.2.5 Run Comm Update (CM-94)......................................................................45
7.2.6 SettheNetworkSpeed(BaudRate)–OptParameter1(CM-10).........................46
7.2.7 Set Profile–Opt Parameter2 (CM-11) ........................................................46
7.2.8 ViewCommunicationModuleVersion–Fbus S/W ver(CM-06) ........................47
7.3 Parameter Setting for Periodic Communication ......................................................47
7.3.1 Set LS Profile Output Address–Para Status 1–4 (CM-31–34).........................47
7.3.2 Set LS Profile Input Address–Para Status 1–4 (CM-51–54) .....................48
7.4 Parameter Setting for Lost Command.....................................................................48
7.4.1 Lost Command Operation–Lost Cmd Mode (Pr-12)..................................48
7.4.2 Command Loss Decision Time–Lost Cmd Time (Pr-13)...........................49

Overview
1
1 Overview
1.1 What is CANopen?
CANopen is a type of Fieldbus network utilizing CAN (Controller Area Network)
specified by the CiA (CAN in Automation) Association.
Currently, CANopen is utilized in the fields such as machine control, medical
equipment, automotive electronics, and building automation.
1.2 What are the Benefits of Using the CANopen
Communication Module?
Using the network features, controlling and monitoring of the inverter can be
performed via a PLC sequence program or a master device.
Because multiple inverters can be operated with one communication cable, this
reduces the total installation cost. In addition, installation time is reduced and easy
maintenance is made available because installation and routing of cables has become
simpler.
Factory automation can also be easily implemented by linking various auxiliary
devices with a PLC and by utilizing other control systems, such as a PC, for
controlling the inverter.
1.3 Package Content
The product package includes the following components.
•CANopen Communication Module (CCAN-G100): 1 ea
•CANopen User Manual: 1 ea

CANopen Communication Module
2
2 CANopen Communication Module
2.1 Technical Specifications
Items
Description
Power Supply
CANopen
Power supply
for CANopen
communication
module
Supplied from inverter.
Network Topology
Bus Topology
Communication Baud Rate
20 kbps, 50 kbps, 100 kbps, 125 kbps, 250 kbps, 500
kbps, 800 kbps, 1 Mbps
Max. Number of Nodes
64 Nodes (including the master node)
When 1 master device is connected to the network, the
maximum number of inverter nodes is 63 (64-1).
Device Type
AC Drive
Supported Communication
Types
Process Data Object (PDO),
Service Data Object (SDO),
Synchronization (Sync),
Network Management (NMT)
Terminal Resistor
120 ohm 1/4W (Built-in)
Available PDO
PDO1 (CiA 402 Drive and Motion Control device profile)
PDO3 (LS Profile)
Vendor ID
0x7D
PDO Mapping
N/A
Group Messaging
N/A
LSS Supported
N/A

CANopen Communication Module
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2.2 CANopen Communication Module Layout

CANopen Communication Module
4
2.3 Installing the CANopen Communication Module
1 Get the G100 CANopen communication module ready for installation. (A dedicated RJ-45
cable is attached to the module.)
2 Remove the front cover from the G100 inverter.
3 Connect the communication module to the G100 inverter using the RJ-45 network cable.
4 Hook up the communication module to the installation slot on the inverter.
5 Install the fixing bolt provided with the communication module using an appropriate tool.
6 The CANopen communication module has been installed on the G100 Inverter.
•Do not install or remove the communication module to or from the G100 inverter while
the inverter is turned on.
•Install or remove the communication module to or from the G100 inverter only after
the electric charge of the capacitor inside the inverter has been completely
discharged.
•Ensure that the cable connection between the module and the inverter (dedicated RJ-
45 cable) is not loose or disconnected.

CANopen Communication Module
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2.4 Grounding the CANopen Communication
Module
Follow the instructions below to ground the CANopen communication cable (shielded
cable). The ground cable is not included in the product package.
1 Remove the front cover from the communication module.
2 Fix the ground cable to the communication module using the bottom screw on the circuit
board.
3 Remove the knockout panel with the grounding symbol from the front cover.
4 Install the front cover to the communication module.

CANopen Communication Module
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2.5 CANopen Connection Terminal Layout
CANopen 통신 케이블(차폐 케이블)의케이블 접지를 사용할 경우에 아래와 같이 연결
합니다. 접지 와이어는 별도로 제공하지 않습니다.
No
Signal
Description
1
GND
CAN Ground
2
CAN_L
CAN_L Bus Line (Dominant Low)
3
SLD
CAN Shield
4
CAN_H
CAN_H Bus Line (Dominant High)
5
-
Reserved
※The PHOENIX STLZ950/5F-5.08-H-GREEN connector is used for cable connections. (5 pin
connector)
①
②
③
④
⑤

CANopen Communication Module
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2.6 Hardware Installation
Turn off the inverter before configuring the communication network.
Both the inverter and the communication module will be damaged if the communication
module is installed or removed while the inverter is turned on. Install or remove the
communication module after the capacitor inside the inverter is completely discharged.
To reduce signal noise, the CANopen communication modules at both ends of the network
must be terminated. You can turn on the terminal resistor setting switch on the CANopen
communication module to enable termination. A resistance of 120 Ω 1/4W is applied between
CAN_L and CAN_H terminals after the terminal resistance is switched on.
Termination Switch ON
120Ω1/4W
Termination Switch ON
120Ω1/4W
MASTER
Node N
Node 1
Node N -1
……
Termination Switch OFF
Termination Switch OFF

CANopen Communication Module
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When the termination resistor selection switch is set to the bottom (Off) →
Termination resistor is disabled.

CANopen Communication Module
9
When the termination resistor selection switch is set to the top (On) → Termination
resistor is enabled.

CANopen Communication Module
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2.7 Maximum Communication Range by Baud Rate
In a network system, the total length of the network cable is determined by the baud
rate. The communication quality cannot be guaranteed if the network cable length
exceeds the following cable length limits.
The table below presents the guaranteed communication distance when 18 AWG
DeviceNet cable is in use (thick cable).
Baud Rate
Bus Length
Remark
1 Mbps
25 m
800 kbps
50m
500 kbps
100m
250 kbps
250m
125 kbps
500m
100 kbps
700m
50 kbps
1,000m
20 kbps
2,500m
Note) The G100 CANopen communication module does not support 10 kbps network speed.
Recommended cable: AC parameters: 120-Ω impedance
5-ns/m specific line delay
18AWG Cable(Thick Cable)

Device Status and LED indicators
11
3 Device Status and LED indicators
3.1 LED Indicators
The CANopen communication module has 4 LED indicators.
Indicator
Color
Description
CPU
Green
Flashes at 1 second intervals when the communication
module is powered on and the CPU is operating normally
(turns on for 500 ms and turns off for 500 ms).
ERR
Red
Turns on if the communication module parameters have been
set up incorrectly, or the internal CAN communication
between the inverter and the communication module failed.
NODE
Green
Turns on according to the current NMT (Network
Management) status.
BUS
Green
Turns on if a communication speed or profile setting different
from the master device setting is used for the communication
module.
3.2 Device Status by Indicator Signals
Indicator
LED Signal
Device
Status
Possible Cause
Resolution
CPU
Kept Off
No Power
Power supply (5 V)
to the CANopen
communication
module failed.
Check if the inverter has
been turned on.
Check power supply to the
CANopen communication
module.
Flashes at
1 sec
intervals
Powered
On
5 V power is
supplied.
Normal status
ERR
Kept Off
No Error
Module settings are
normal
Normal status
Flashes
synchronou
sly with the
CPU LED
Communica
tion error
between the
inverter and
the
communicat
ion module
Data
communication
between the
inverter and the
communication
module failed.
Turn off the inverter,
reinstall the communication
module and then turn on
the inverter again.

Device Status and LED indicators
12
Indicator
LED Signal
Device
Status
Possible Cause
Resolution
Flashes
asynchrono
usly with
the CPU
LED
MAC ID
Setting
Error
"CM-7 (FBus ID)"
has been set to "0."
Set the FBus ID to a
number between 1–127
and set "CM-94 (COMM
Update)" to "1 (Yes)."
Flashes at
twice the
interval of
the CPU
LED.
Opt
Parameter
Setting
The CANopen
communication
module parameter
settings differ from
the parameter
settings configured
by the keypad.
Set "CM-94 (COMM
Update)" to "1 (Yes)" apply
the keypad settings to the
communication module.
To maintain the parameter
settings stored on the
communication module, set
the parameter values again
using the original setting
values,
or turn off the inverter and
turn it on again.
The parameter settings on
the CANopen
communication module are
maintained while the ERR
LED is flashing.
NODE
Kept Off
CANopen
Not
Initialized
If the NODE LED
has not yet turned
on after the
CANopen
communication
module was
powered on, this
means that the
module is not ready
for CANopen
communication
because it has not
been initialized yet.
If the LED does not turn on
for a long time, set "CM-94
(COMM Update)" to
"1(Yes)."
Kept OFF
CANopen
Stopped
If the NODE LED
has been lit at least
once, the CANopen
master device has
issued a stop
command.
Normal status

Device Status and LED indicators
13
Indicator
LED Signal
Device
Status
Possible Cause
Resolution
Flashes
synchronou
sly with the
CPU LED
CANopen
Pre-
operational
CANopen
communication with
the master device
is available, but the
connection with the
master device has
not been made yet.
Normal status
Kept On
CANopen
Operational
Successfully
connected to the
master device and
the CANopen
communication is
operated normally.
Normal status
BUS
Kept OFF
Bus Off
The CANopen
communication
module has been
disconnected from
the network due to
a network problem.
Check the network cable
connection. Ensure that the
terminal screws are
properly tightened. Turn off
the power, then turn it back
on.
Flashes
synchronou
sly with the
CPU LED
CANopen
Profile
Setting
Error
The profile set on
the CANopen
master device
differs from the
profile setting on
the communication
module.
Check that the PDO
settings and ensure that
the same settings are used
for the master device and
the communication
module.
Flashes at
twice the
interval of
the CPU
LED.
PDO
Communica
tion
Not
Connected
The CANopen
network speeds
were set differently.
Ensure that the same
network speed (baud rate)
is set for the master device
and the communication
module.
Connection with the
master device has
not been made for
communication.
Ensure that the master
device has started
communication.
Network cable has
not been connected
yet.
Check that network cable
has been connected
correctly.
Kept On
No
CANopen
Network
Bus Errors
The CANopen
network has no
problems.
Normal status

CANopen Data Communication Protocol
14
4 CANopen Data Communication
Protocol
4.1 CANopen Communication Protocol
4.1.1 CAN-ID
The G100 CANopen communication module supports only the CAN2.0A (Standard)
protocol.
The CAN2.0A protocol uses 11Bit IDs.
The figure below shows the configuration of the ID.
The table below presents the Broadcast Function codes.
COB
Function code
Resulting CAN-IDs
NMT
0000b
0 (0x000)
SYNC
0001b
128 (0x080)
TIME
0010b
256 (0x100)
Note) Communication Object (COB) is a part of the CAN Message Frame which shows the
unit of transmission on a CAN Network.
The table below presents the function codes for a peer-to-peer connection.
COB
Function code
Resulting CAN-IDs
EMCY
0001b
129(0x81)~255(0xFF)
PDO1 (tx)
0011b
385(0x181)~511(0x1FF)
PDO1 (rx)
0100b
513(0x201)~639(0x27F)
PDO3 (tx)
0111b
897(0x381)~1023(0x3FF)
PDO3 (rx)
1000b
1025(0x401)~1151(0x47F)
SDO (tx)
1011b
1409(0x581)~1535(0x5FF)
SDO (rx)
1100b
1537(0x601)~1663(0x67F)

CANopen Data Communication Protocol
15
Data is transmitted through a variety of Communication Objects (COB) in the
CANopen data frame.
Process Data Objects (PDO) are used to transmit the data requiring real-time
transmission (Real-time data), while Service Data Objects (SDO) are used to transmit
the data that does not require real-time transmission.
4.1.2 SDO Communication
SDO communication is used for Peer-to-peer data communication between two
CANopen devices, which does not require real-time transmission (Ex: setting the
parameter values).
SDO communication accesses objects with the combination of the object index and
sub-index, and allows for reading and writing of all the objects in the object directory.
4.1.3 PDO Communication
PDO communication is used to send and receive data requiring real-time transmission
(real-time data). Data is transmitted without overhead or confirmation of the protocol
(index, sub-index, and data). Such features make PDO communication useful for IO
communication.
PDO communication can be divided into two types depending on the transmission
direction; RPDO (Receive PDO) for receipt of data from the master device and TPDO
(Transmit PDO) for transmission of data to communicate with the master device.
The G100 CANopen communication module is available for PDO communication for
frequency conversion that is supported by the CiA 402 Drive and Motion Control
device profile (only PDO1 and PDO3 communications are supported).
PDO1 and PDO3 communications cannot be utilized at the same time.