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.

Chapter 2. CANopen Communication Option
6
2.4 Connection of connector for CANopen signal line
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 is recommended for the 5
pin connector.
①
②
③
④
⑤

Chapter 2. CANopen Communication Option
7
2.5 Hardware installation
Warning) Configure the communication network after turn off the power
of inverter.
The inverter and option card will be damaged when the option card is
removed or mounted if the inverter is switched on.
Both the inverter and the option card will be damaged when the option
card is removed or installed while the inverter is switched on. Please
remove or install the option card after the charged voltage of condenser
is totally discharged.
To reduce the noise, CANopen communication module at both ends of
the network has to be terminated. Turn on the setting switch of terminal
resistor on CANopen communication module. Terminal resistance 120 Ω
1/4W is connected between CAN_L and CAN_H after the terminal
resistance is switched on.
Terminal Switch ON
120Ω1/4W
Terminal Switch ON
120Ω1/4W
MASTER
Node N
Node 1
Node N -1
……
Terminal Switch OFF
Terminal Switch OFF

Chapter 2. CANopen Communication Option
8
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
When the switch of terminal resistance is placed in lower side (Off)
→ Terminal resistor is not available.

Chapter 2. CANopen Communication Option
9
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
When the switch of terminal resistance is placed in upper side (Off)
→ Terminal resistor is available.

Chapter 2. CANopen Communication Option
10
2.6 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.
The table below presents the guaranteed communication distance when
using 18AWG DeviceNet cable(Thick cable).
Note) Sinus H CANopen communication card not supports 10 kbps.
The recommended cable : AC parameters : 120-Ω impedance
5-ns/m specific line delay
18AWG Cable(Thick Cable)
Baud Rate
Bus Length
Remark
1M bps
25 m
-
800 kbps
50 m
-
500 kbps
100 m
-
250 kbps
250 m
-
125 kbps
500 m
-
100 kbps
700 m
-
50 kbps
1,000 m
-
20 kbps
2,500 m
-

Chapter 3. Diagnosis of the Option Statuses and LED Definition
11
Chapter 3. Diagnosis of the Option Statuses and LED
Definition
3.1 Definition of the LED Signal
The CANopen communication option has 4 LEDs.
LED
Color
Description
CPU
Green
When the Option Module 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
Red
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
Green
This LED turns on according to the status of the
current NMT (Network Management).
BUS
Green
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
Module
Check inverter
power supply.
Check power
supply to the
CANopen
communication
Module
Blink at 1 sec
intervals
On Power
5V power
supplied
Normal status
ERR
Kept OFF
No Error
Normal Option
Normal status

Chapter 3. Diagnosis of the Option Statuses and LED Definition
12
LED
LED Signal
Option Status
Possible
Cause
Action
setting
Blinks
synchronously
with the CPU
LED
communication
Error
Data
communication
between the
inverter and
Option is lost.
Turn the
inverter power
off, reinstall the
Option Module
and turn the
power on
again.
Blinks
asynchronously
with the CPU
LED
MAC ID
Setting Error
‘0’ is entered
as the ID of
the CM-7 FBus
Enter a figure
between
1~127, not
zero, into the
FBus ID, and
execute CM-94
COMM Update
and set 1(Yes)
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 Module.
Run CM-94
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

Chapter 3. Diagnosis of the Option Statuses and LED Definition
13
LED
LED Signal
Option Status
Possible
Cause
Action
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 CM-94 to
1(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
Normal status.

Chapter 3. Diagnosis of the Option Statuses and LED Definition
14
LED
LED Signal
Option Status
Possible
Cause
Action
yet.
Kept ON
CANopen
Operational
Master has
been
connected and
communicating
with the
CANopen
normally.
Normal status.
BUS
Kept OFF
Bus Off
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.
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.
Master has not
been
connected for
communication
yet.
Check that the
Master has
started
communication.

Chapter 3. Diagnosis of the Option Statuses and LED Definition
15
LED
LED Signal
Option Status
Possible
Cause
Action
Network line
has not been
connected yet.
Check that
Network Line
has been
connected.
Kept ON
CANopen
Network Bus
No Error
No problem in
the CANopen
Network.
Normal status.