Santerno SINUS H Series User manual

•15G0176B200 •
SINUS H
VARIABLE FREQUENCY DRIVE
USER MANUAL
- CANopen Communication Module -
Issued on 13/04/16
R.00
Software Version 32.41
•This manual is integrant and essential to the product. Carefully read the instructions contained herein as
they provide important hints for use and maintenance safety.
•This device is to be used only for the purposes it has been designed to. Other uses should be
considered improper and dangerous. The manufacturer is not responsible for possible damages caused
by improper, erroneous and irrational uses.
•Enertronica Santerno S.p.A. is responsible for the product in its original setting.
•Any changes to the structure or operating cycle of the product must be performed or authorized by
Enertronica Santerno S.p.A..
•Enertronica Santerno S.p.A. assumes no responsibility for the consequences resulting by the use of
non-original spare-parts.
•Enertronica Santerno S.p.A. reserves the right to make any technical changes to this manual and to the
product without prior notice. If printing errors or similar are detected, the corrections will be included in
the new releases of the manual.
•The information contained herein is the property of Enertronica Santerno S.p.A. and cannot be
reproduced. Enertronica Santerno S.p.A. enforces its rights on the drawings and catalogues according
to the law.
Enertronica Santerno S.p.A.
Via della Concia, 7 - 40023 Castel Guelfo (BO) Italia
Tel. [phone] - Fax [phone]
santerno.com [email protected]
English

Table of Contents
III
Thank you for purchasing Sinus H Series CANopen Communication
Option Module.
SAFETY PRECAUTIONS
Always follow safety instructions to prevent accidents and potential
hazards from occurring.
Safety precautions are classified into “WARNING” and “CAUTION” and
their meanings are as follows:
WARNING Improper operation may result in serious personal
injury or death.
CAUTION Improper operation may result in slight to medium
personal injury or property damage
The 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.
Keep operating instructions handy for quick reference.
Read the operating instructions carefully to fully understand the
functions of the Sinus H series and to use it properly.
CAUTION
Be cautious, when handling the CMOS components of the
communication module.
Static may lead to malfunctioning of the product.
Turn off the inverter power,when changing the communication cable.
Otherwise, you may damage the module or a communication error may occur.
Make sure to insert the Communication module connector to the
inverter precisely.
Otherwise, you may damage the module or a communication error may
occur.
Check the parameter unit before setting up the parameter.
Otherwise, a communication error may occur.

Table of Contents
Table of Contents
Chapter 1. Introduction ...................................................................................................... 1
1.1 What is CANopen?.......................................................................................................................... 1
1.2 What are the Benefits of Using the CANopen Option Board?......................................................... 1
1.3 Components..................................................................................................................................... 1
Chapter 2. CANopen Communication Option ......................................................................... 2
2.1 Technical Data of CANopen Communication Module ..................................................................... 2
2.2 Layout of CANopen Communication Module .................................................................................. 3
2.3 Installation of CANopen Communication Module............................................................................ 4
2.4 Connection of connector for CANopen signal line........................................................................... 6
2.5 Hardware installation ....................................................................................................................... 7
2.6 Maximum Communication Range according to Baud Rate........................................................... 10
Chapter 3. Diagnosis of the Option Statuses and LED Definition ...............................................11
3.1 Definition of the LED Signal............................................................................................................11
3.2 Diagnosis of Option by LED Signal ................................................................................................11
Chapter 4. Data Communication Protocol of the CANopen .......................................................17
4.1 Communication Protocol of the CANopen..................................................................................... 17
4.1.1 CAN-ID................................................................................................................................... 17
4.1.2 SDO communication.............................................................................................................. 18
4.1.3 PDO communication.............................................................................................................. 18
4.2 NMT (Network Management) State Machine ................................................................................ 20
4.2.1 NMT state initialization........................................................................................................... 21
4.2.2 NMT state Pre-operational..................................................................................................... 22
4.2.3 NMT state operational............................................................................................................ 22
4.2.4 NMT state stopped................................................................................................................. 22
4.2.5 The frames enabling communication by NMT status............................................................. 23
4.3 Error Control Protocols.................................................................................................................. 23
4.3.1 Protocol node/life guarding .................................................................................................... 23
4.3.2 Protocol heartbeat.................................................................................................................. 24
4.3.3CANopen EDS File ................................................................................................................ 24
Chapter 5. Detailed Specification of Communication Profile Specific Objects ................................25
5.1 Device Type................................................................................................................................... 25
5.2 Error Register ................................................................................................................................ 25
5.3 Pre-defined Error Field .................................................................................................................. 27
5.4 COB-ID SYNC Message................................................................................................................ 28
5.5 Manufacturer Device Name........................................................................................................... 28
5.6 Manufacturer Hardware Version.................................................................................................... 29
5.7 Manufacturer Software Version ..................................................................................................... 29
5.8 Guard Time.................................................................................................................................... 29
5.9 Life Time Factor............................................................................................................................. 30
5.10 COB-ID EMCY............................................................................................................................... 30
5.11 Producer Heartbeat Time............................................................................................................... 30
Chapter 6. Profile ............................................................................................................31
6.1 CiA 402 Drive and Motion Control Device Profile.......................................................................... 31
6.1.1 Finite state automation........................................................................................................... 31
6.1.2 CiA 402 SDO.......................................................................................................................... 33
6.1.3 SDO for Sinus H..................................................................................................................... 40
6.2 PDO............................................................................................................................................... 43
6.2.1 RPDO..................................................................................................................................... 43
6.2.2 RPDO mapping...................................................................................................................... 44
6.2.3 TPDO..................................................................................................................................... 45
6.2.4 TPDO mapping ...................................................................................................................... 46
Chapter 7. Inverter Parameter ............................................................................................47
7.1 Related Parameter List ................................................................................................................ 47

Table of Contents
V
7.2 Description on the Basic Field Bus Parameters........................................................................49
7.2.1 Set operation command source of the inverter - Cmd Source(drv) ..........................49
7.2.2 Set frequency command source of the inverter - Freq Ref Src(Frq)...........................49
7.2.3 Set Station ID - Fbus ID(CM-07).............................................................................................49
7.2.4 Display communication state LED State - Fbus LED (CM-9)....................................50
7.2.5 Comm Update (CM-94)...........................................................................................................50
7.2.6 Set baudrate - Opt Parameter1 (CM-10)................................................................................50
7.2.7 Set Profile - Opt Parameter2 (CM-11) ....................................................................................51
7.2.8 Display communication virsion state - Fbus S/W ver (CM-06) ...................................52
7.3 Parameter Setting for the Periodic Communication.......................................................................52
7.3.1 Set ES Profile Output Address - Para Status 1~4 (CM-31~34).................................52
7.3.2 Set ES Profile Input Address - Para Status 1~4 (CM-51~54) .....................................52
7.4 Parameter setting for the Lost Command ......................................................................................52
7.4.1 How to run at communication command loss - Lost Cmd Mode (Pr-12)....................53
7.4.2 Communication command loss determination time - Lost Cmd Time (Pr-13) ............54

Chapter 1. Introduction
1
Chapter 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 equipment, 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 - P/N ZZ0176100 - is comprised with the following
components:
- CANopen Communication Module for Sinus H: 1 each
- Brass Bar (M3xL23): 1 each
- Brass Bar (M3xL17.3): 1 each
- Screw (M3xL8): 2 each

Chapter 2. CANopen Communication Option
2
Chapter 2. CANopen Communication Option
2.1 Technical Data of CANopen Communication Module
Items
Description
Power
Supply
Power supply
of CANopen
communication
Module
Supplied from inverter.
Network Topology
Bus Topology
Communication
BaudRate
20kbps, 50kbps, 100kbps, 125kbps,
250kbps, 500kbps, 800kbps, 1Mkbps
Max. number of Node
64 each (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
Process Data Object (PDO),
Service Data Object (SDO),
Synchronization (Sync),
Network Management (NMT)
Terminal Resistance
140 ohm 1/2W (Built-in)
Available PDO
PDO1 (CiA 402 Drive and Motion Control
device profile)
PDO3 (ES Profile)
Vendor Name
0x7D (Enertronica Santerno S.p.A.)
PDO Mapping
N/A
Group Messaging
N/A
LSS Supported
N/A

Chapter 2. CANopen Communication Option
3
2.2 Layout of CANopen Communication Module
CANopen Terminal Block
MC9S12
B128
LCD
KPD
Conn.
KPD
CONN
I/O Board
CONN
ACPL
072L
MCP
2515
NTE
0505
ACPL
072L
CPU
ERR
BUS
NODE
ON
OFF
5Pin Pluggable
Connector
Termination Switch

Chapter 2. CANopen Communication Option
4
2.3 Installation of CANopen Communication Module
Warning) Connect a communication network after the power supply of
the Sinus H inverter must be off.
If the power supply is plugged when CANopen communication module is
removed, the Sinus H inverter will be damaged entirely.
Take off CANopen communication module from the product after the
power supply is totally discharged.
■Take off the power supply cover
and the I/O cover((1), (2)) from
a dedicated Sinus H inverter
for communication.
■Take off the keypad (3).
■Loosen a screw from
the I/O board and
fasten the prepared
brass bar (4) and (5).

Chapter 2. CANopen Communication Option
5
■Mount CANopen communication Module
(6) and fasten the removed screw (7)
and the included screw (8).
■Install the keypad (9) at first and
the communication module
cover (10) in order.
■Install the power supply cover (11) again
And the installation is completed.