LSIS SV-iS7 CANopen User manual

Before using the product, thank you for purchasing SV-iS7 CANopen option board.
SAFETY PRECAUTIONS
zAlways follow safety instructions to prevent accidents and potential hazards from occurring.
zSafety precautions are classified into “WARNING” and “CAUTION” and their meanings are
as follows:
WARNING
CAUTION
zThe indicated illustrations on the product and in the manual have the following meanings.
Danger may be present. Read the message and follow the instructions carefully.
Particular attention should be paid because danger of an electric shock may be
present.
zKeep operating instructions handy for quick reference.
zRead the operating instructions carefully to fully understand the functions of the SV-iP5A
series and to use it properly.
CAUTION
zBe cautious, when handling the CMOS components of the Option Board.
Static may lead to malfunctioning of the product.
zTurn off the inverter power, when changing the communication cable.
Otherwise, you may damage the board or a communication error may occur.
zMake sure to insert the Option Board connector to the inverter precisely.
Otherwise, you may damage the board or a communication error may occur.
zCheck the parameter unit before setting up the parameter.
Otherwise, a communication error may occur.
Improper operation may result in serious personal injury or
death.
Improper operation may result in slight to medium personal
injury or property damage.

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1. Introduction
1.1 What is CANopen?
The CANopen is a Fieldbus using the CAN (Controller Area Network) specified by the CiA (CAN in Automation)
Association. Currently, the CANopen is used in machine control, medical equipments, autos, and building
automation.
1.2 What are the Benefits of Using the CANopen Option Board?
Inverters can be monitored and controlled by PLC sequence program or any master module.
Multiple inverters can be connected with a single communication line, saving the installation cost. Simple and
clean wiring makes installation and maintenance works much easier and faster.
Various peripheral devices of PLC can be used to control inverters. Various systems including PCs can be linked
for plant automation.
1.3 Components
The option board is comprised with following components;
-. CANopen Communication Card: 1 ea
-. CANopen User Manual: 1 ea
-. Fixing Screw (M3): 1 ea
-. Terminal resistance (120Ω, 1/2W): 1 ea

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2. SV-iS7 CANopen Communication Option
2.1 General Specification of CANopen Communication Card
Items Description
Power
Supply
Power supply of
CANopen
communication
card
Supplied from inverter.
Network Topology Bus Topology
Communication BaudRate 20kbps, 50kbps, 100kbps, 125kbps, 250kbps, 500kbps, 800kbps,
1Mkbps
Max. number of Node 64 ea (Including Master)
With 1 Master connected to network, the maximum number of inverter
nodes is 63 (64-1).
Device Type AC Drive
Supported Communication Type PDO, SDO, Sync, NMT
Terminal Resistance 120 ohm 1/2W Lead Type
Available PDO PDO1 (CiA 402 Drive and Motion Control device profile)
PDO3 (LS Profile)
Vender Name 0x7D (LSIS)
PDO Mapping N/A
Group Messaging N/A
LSS Supported N/A

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2.2 External Appearance of Communication Card
Installation
Precautions for Installation)
Do not install or remove the CANopen communication card while the power supply of the equipment is ON.
Otherwise, both the CANopen communication card and the inverter may be damaged. Install or remove the
CANopen communication card when the condenser of the inverter has been fully discharged.

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Do not change the connection of communication signal wire while the inverter power is on.
Make sure that the inverter terminal and the connector of the option board are in agreement.
When building a network, make sure to connect the terminal resistance to the CANopen communication card at
the end position. The terminating resistor, a 120 ohm 1/2W resistor, should connect the CAN_L and CAN_H.
2.3 Maximum Communication Range according to Baud Rate
In a network system, the total length of the network line is determined by the baud rate. The performance of the
communication farther than this distance is not guaranteed.
Baud Rate Bus Length Remark
1 Mbit/s 25 m -
800 Kbit/s 50 m -
500 Kbit/s 100 m -
250 Kbit/s 250 m -
125 Kbit/s 500 m -
100 Kbit/s 700 m -
50 Kbit/s 1000 m -
20 Kbit/s 2500 m -

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3. Diagnosis of the Option Statuses and LED Definition
3.1 Definition of the LED Signal
The CANopen communication option has 4 LEDs.
LED Description
CPU When the Option card is energized and the CPU is in normal operation state, this LED
is turned on and off at 1 second cycle – on for 500 ms and off for 500 ms.
ERR This LED turns on if the Option parameters have been set up inappropriately, or the
Internal CAN communication between the inverter and the CANopen is lost.
NODE This LED turns on according to the status of the current NMT (Network Management).
BUS This LED turns on or off according to the baud rate or profile set up, or communication
status.
3.2 Diagnosis of Option by LED Signal
LED LED Signal Option Status Possible Cause Action
CPU
Kept OFF No Power
Failure in power supply
(5V) to the CANopen
communication card
Check inverter power supply.
Check power supply to the
CANopen communication card
Blink at 1 sec
intervals On Power 5V power supplied Normal status
ERR
Kept OFF No Error Normal Option setting Normal status
Blinks
synchronously
with the CPU
LED
Internal CAN
communication
Error
Data communication
between the inverter and
Option is lost.
Turn the inverter power off,
reinstall the Option card and turn
the power on again.
Blinks
asynchronously
with the CPU
LED
FBus ID
Setting Error
‘0’ is entered as the ID of
the COM-7 FBus
Enter a figure between 1~127, not
zero, into the FBus ID, and
execute COM-94 Comm Update

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ERR
Blinks at an
interval twice as
long as that of
the CPU LED.
Opt Parameter
Setting
The parameters for the
CANopen entered using
keypad differ from those
set up in the CANopen
option card.
Run COMM Update to apply the
CANopen parameter set up with
keyboard. To maintain the
CANopen parameters, set up with
the previous values, or turn off
and on the inverter power supply.
Though the ERR LED may blink,
the CANopen is driven with the
previous set up values.
NODE
Kept OFF CANopen Not
Initial
If the NODE LED has
not been turned on yet
after the CANopen
Option has been
energized, the CANopen
has not been initialized
yet and is not ready for
CANopen
communication.
Wait until lit. If not, set the COMM
Update of the COM-94 to Yes.
Kept OFF CANopen
Stopped
If the NODE LED has
been lit at least by once,
the
CANopen Master has
issued a Stopped
command.
Normal status.
Blinks
synchronously
with the CPU
LED
CANopen Pre-
Operational
CANopen
communication available
with the Master, but the
connection with the
Master has not been
made yet.
Normal status.
Kept ON CANopen
Operational
Master has been
connected and
communicating with the
CANopen normally.
Normal status.

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BUS
Kept ON
CANopen
Network Bus
No Error
No problem in the
CANopen Network. Normal status.
Blinks
synchronously
with the CPU
LED
CANopen
Profile Setting
Error
The profile set up on the
CANopen Master differs
from that set up in the
Option.
Check that the PDOs set up in the
Master and Option are identical.
Blinks at an
interval twice as
long as that of
the CPU LED
PDO
Communication
Not Connected
CANopen’s
communication speed is
different.
Check that the baud rate of the
CANopen set up in the Master
and that in the Option are
identical.
Blinks at an
interval twice as
long as that of
the CPU LED
Kept OFF
PDO
Communication
Not Connected
Bus Off
Master has not been
connected for
communication yet.
Check that the Master has started
communication.
Network line has not
been connected yet.
Check that Network Line has
been connected.
CANopen Option is
isolated from the
network due to problem
in the network.
Check the connection with the
Network Line. Check tightness of
bolts and nuts. Turn the power on
and off.

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4. Data Communication Protocol of the CANopen
4.1 Communication Protocol of the CANopen
4.1.1 CAN-ID
Following is the description on the ID part of the CAN frame.
In the IS7 CANopen, only CAN2.0A (Standard) is supported.
As the CAN2.0A is implemented, the ID comprises 11Bits.
The figure below shows the configuration of the ID.
The table below presents the Broadcast Function code.
The table below presents the function code for peer to peer.
Since only CAN2.0A is used, the PDO also is available between 1~4.
Presently, the PDOs used in the CANopen Option are PDO1 (CiA402 Profile) and PDO3 (LS Profile).

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4.1.2 SDO communication
Regardless of the connection of the CANopen with the master, this is the protocol for the client to read or write
data on the server.
SDO Download means the client writing data on the server, and the SDO Upload is the client reading data from
the server.
4.1.3 PDO communication
According to the protocol, the only the Index and SubIndex Data which are specified to the PDO are transmitted.
Though the data type of the PDO can be set up by mapping, the IS7 prohibits setting by mapping.
PDO has two types which are Transmit-PDO (TPDO) and Receive-PDO (RPDO).
PDO is classified into the Producer and Consumer, which are different from the server and client in the SDO
communication. The Producer can be a client or a server. The Producer of the TPDO is a server and the
Producer of the RPDO is a client. This is because the PDO is classified in the perspective of the server. The
Consumer is the recipient of the PDO created by Producer.
4.1.3.1 Transmission modes
Synchronous transmission: PDO is transmitted according to SYNC frame
Event-driven transmission: PDO is transmitted by an event.
4.1.3.2 Triggering modes
There are 3 trigger modes available for the generation of the event for PDO transmission.
zEvent- and timer-driven
When the preset event time is elapsed the PDO frame is transmitted automatically.
zRemotely requested
PDO frame is transmitted when the RTR frame requesting for PDO is received.
zSynchronously triggered
PDO frame is transmitted by the preset number of the SYNC frames.

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4.2 NMT (Network Management) state machine
This command is used by the master to control the slave devices in the network.
The figure below shows the NMT State Diagram of a CANopen device.
The above table presents the conditions for status transfer. The NMT Service means those converted by the NMT
command frame.

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4.2.1 NMT state initialization
The Initialization also is divided into 3 modes.
Initializing: the beginning status of the Option, which is the initialization stage after Power-On or H/W
Reset.
Reset Application: NMT requested Node Reset. The initialization is conducted according to the profile.
Reset Communication: NMT requested Communication Reset, and notice the Master of boot-up via
NMT frame. This state is transferred to Pre Operational automatically.
4.2.2 NMT state pre-operational
Before PDO communication, the PDO information is sent by the Master to the Slave via SDO, or necessary data
is read. In this state, the PDO communication is being prepared via SDO.
4.2.3 NMT state operational
PDO communication is started by changing all the devices to Operation via the NMT frame. Of course, SDO
communication is enabled too.
4.2.4 NMT state stopped
SDO and PDO communications are stopped due to a problem in the network. However the Node Guarding and
Heartbeat communication are enabled.

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4.2.5 The frames enabling communication by NMT status
Pre-operational Operational Stopped
PDO - O -
SDO O O -
SYNC O O -
TIME O O -
EMCY O O -
Node control and
error control O O O
* “O” mark indicates communication enabled.
4.3 Error Control Protocols
These protocols are used to check normal operation of the device.
Two methods are available in the CANopen; Protocol node guarding and Protocol heartbeat.
4.3.1 Protocol node guarding
Master inquires the Slave for normal operation via the RTR Frame, and the Slave returns the current NMT State
to the Master.
The NMT status of the Slave is indicated by the value of S;
-. 4: Stopped
-. 5: Operational
-. 127: Pre-operational

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The ’t’ of the top bit is the Toggle Bit which toggles at every response of the Slave.
The Master sends the RTR Frame at every preset Node guard time. If the Master fails to send RTR Frame until
the expiration of the Node life time, or the Slave fails to response to the Mater until the expiration of the Node life
time, a Guard Error is generated. Then, the Guard Error Event set up in each Master and Slave is executed. In the
case of iS7, the CANopen NMT State is changed to Pre-operational.
4.3.2 Protocol heartbeat
If the Error Control Protocol is set to Heartbeat, the MNT State information of itself is sent at the time intervals set
up in the Heartbeat Producer. If the Heartbeat Producer fails to send the Heartbeat within the preset time, the
Heartbeat consumer generates a Heartbeat event.
The value of S represents the MNT state of the Slave;
-. 4: Stopped
-. 5: Operational
-. 127:Pre-operational
The upper ‘r’ is the reservation bit which is always zero.
The IS7 CANopen informs the Consumer of the current MNT State at the time intervals set up with the
Producer. Therefore, in general, the Master is the Consumer.

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4.4 CANopen EDS File
This file contains the parameter data of the inverter, which is used to control the parameters of the SV-iS7 via the
CANopen Manager software program. To do this, you need to install the EDS file for the iS7 provided by the LS
Industrial System in your PC.
-. The EDS file can be downloaded from the Webpage of LS Industrial System (www.lsis.biz).
-. EDS file name: LSIS_IS7_CANOPENxx.EDS
LSIS_IS7_CANOPENxx.EDS should be copied into the folder where the EDS file is stored in the Master
Configuration program.

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5. Detailed Specification of Communication Profile Specific Objects
5.1 Device Type
The SDO indicates the device type of the Option.
Index 0x1000
Data type UNSIGNED32
Sub-index 0x00
Access RO (Read Only)
Data 0x00010192
5.2 Error Register
The information on the error of the Option.
Index 0x1001
Data type UNSIGNED8
Sub-inde
x
0x00
Access RO
Data
Bit Information
0 Generic error
1 Current
2 Voltage
3 Temperature
4 Communication error (overrun, error state)
5 Device profile specific
6 reserved (always 0)
7 manufacturer-specific
5.3 Pre-defined Error Field
The information on the current Emergency.
Index 0x1003
Data type UNSIGNED32
Object code Object code
Sub-index 0x00
Description Number of the occurred errors
Access RW (Read/ Write)
Data
Read Number of the current emergency errors
Write Enter “0” to rest all the emergencies

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Sub-index 0x01
Description Information on the last emergency
Access RO
Data The value of Error code (Refer to Error code table of
6.1.2.1)
Sub-index 0x02~0x08
Description Information on the last emergency
Access RO
Data The value of Error code (Refer to Error code table of
6.1.2.1)
5.4 COB-ID SYNC Message
The SDO for reading and writing the information on the CAN ID of the device that sends the SYNC Message.
The Bit format is as follows;
The iS7 CANopen Option only receives and does not generate SYNC, and supports Standard ID only. Therefore,
both the gen and frame must be 0.
Index 0x1005
Data type UNSIGNED32
Sub-index 0x00
Access RW
Data Read COB-ID of the current SYNC setting
Write Set up the COB-ID of SYNC
5.5 Manufacturer Device Name
Name information of the CANopen Option.
Index 0x1008
Data type VISIBLE_STRING (String)
Sub-index 0x00
Access CONST (Read only data. Unchangeable)
Data IS7 CANopen

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5.6 Manufacturer Hardware Version
Version data of the hardware of the Option.
Index 0x1009
Data type VISIBLE_STRING (String)
Sub-index 0x00
Access CONST (Read only data. Unchangeable)
Data CANopen 1.00
(May differ by the hardware version of the Option)
5.7 Manufacturer Software Version
Version data of the software of the Option.
Index 0x100A
Data type VISIBLE_STRING (String)
Sub-index 0x00
A
ccess CONST
(
Read onl
y
data. Unchan
g
eable
)
Data Version 1.00 (May differ by the software version of the
Option)
5.8 Guard Time
This SDO sets the guard time when using the Node Guarding Protocol of the Error Control Protocol.
Index 0x100C
Data type UNSIGNED16
Sub-index 0x00
Access RW
Data Guard Time, unit: msec
5.9 Life Time Factor
This SDO sets the life time factor when using the Node Guarding Protocol of the Error Control Protocol.
Index 0x100D
Data type UNSIGNED8
Sub-index 0x00
A
ccess RW
Data This factor is for the calculation of the Node Life Time,
and is zero when not using the Node Guarding Protocol.

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5.10 Store Parameters
This SDO saves keypad data changed by communication when power turns to off.
Sub-Index 0x01, 0x02, and 0x03 are not supported. 0x04 only is supported.
Index 0x1010
Data type UNSIGNED32
Sub-index 0x04
Name Save Inverter Parameters
Access RW
Data
Read 0x0001 indicates that the data can be saved.
0x0000 indicates saving is not available due to inverter drive, etc.
Write
The data in above table must be transmitted to save the keypad
parameters in the ROM.
5.11 COB-ID EMCY
This SDO sets the CAN-ID of the Emergency Frame. In the IS7 CANopen, setting is prohibited, only reading is
allowed.
Index 0x1014
Data type UNSIGNED32
Sub-index 0x00
Access RW
Data $NODEID+0x80
($Node ID is the FBus ID currently set up in the Option.)
5.12 Producer Heartbeat Time
This SDO indicates the time at which the Heartbeat is transmitted.
Index 0x1017
Data type UNSIGNED16
Sub-index 0x00
Access RW
Data Set up time in msec units.

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6. Profile
6.1 CiA 402 Drive and Motion Control Device Profile
Velocity Mode only is supported.
6.1.1 Finite state automation
This is the state of the Option used at CiA 402.
Not ready to Switch On: The hardware and Stack of CANopen are initialized in this state.
Switch on disable: Current Option state is not available for Switch On.
Ready to switch on: Ready to change to switch-on state anytime
Switch on: Ready for Operation enable. RN command can be issued at anytime.
Operation enabled: Motor is running
Quick stop active: Motor is to be or has been stopped.
The table below presents the action of the inverter according to status change.
Transition Event Action
0
A
utomatic change Conduct self diagnosis and initialize
parameters
1
A
utomatic change CANopen communication enabled
2 Change to Operation Mode None
3 On receiving Switch on command None
4 On receiving Enable Operation command Motor drive