TECO-Westinghouse A510 User manual

CANopen

I
Table of Contents
1.0 CANopen expansion module................................................................................................................. 1-0
1.0.1 Communication Hardware and Data Structure ............................................................................. 1-0
1.0.2 Product Specifications .................................................................................................................. 1-0
1.0.3 Installation Instructions ................................................................................................................. 1-1
1.0.4 LED indicator descriptions ............................................................................................................ 1-3
1.0.5 Driver Parameter Setting Descriptions ......................................................................................... 1-3
1.0.6 Connection Instructions ................................................................................................................ 1-4
1.0.7 Object Index List ........................................................................................................................... 1-6
1.0.8 Troubleshooting .......................................................................................................................... 1-12
1.0.7 EDS File ...................................................................................................................................... 1-13
2.0 I/O expansion card................................................................................................................................ 1-14
2.0.1 Hardware and Data Structure ................................................................................................... 1-14
2.0.2 Product Specifications ................................................................................................................ 1-14

1-0
1.0 CANopen high speed communication expansion card
1.0.1 Communication hardware and data structure
This product is the CANopen high-speed communication expansion module; it can perform remote
setting and communication functions through the CANopen bus. It can only be used with the TECO
A510s/F510 AC motor driver (hereinafter referred to as the “driver”), and allow the driver to operate
on the CANopen network.
1.0.2 Product specifications
CANopen ports
Item Specifications
Connector 5-pin open pluggable connector; pin spacing 5.08mm
Transmission
rate
10kbps, 20kbps, 50kbps, 125kbps, 250kbps, 500kbps, 800kbps,
1Mbps
Network
protocols
CANopen communication protocol
AC motor driver port
Item Specifications
Connector Control board CN2 connector
Transmission
method
SPI high speed communication
Terminal
functions
1. The communication module communicates with the AC motor
driver through this interface.
2. The AC motor driver provides power to the communication
module through this interface.
Communication
protocols
TECO communication protocol

1-1
1.0.3 Installation instructions
Communication module contact description
As shown in the figure below, A – Terminal block (TB1)
B, C – Mounting holes
D - RUN LED
E - ERR LED
F – Control board connector (CN2)
Terminal block definition
As shown in the figure below, the contact definitions in the order from left to right are
GND, CAN_L, NC, CAN_H and NC.

1-2
ID address setting description
As shown in the figure below, ID addresses (1~127) correspond to SW1 b1~b7.
Transmission rate corresponds to SW2 b1~b3.
Function DIP switch
position
DIP switch
status
7654321
Description
Network
address
Setting
SW1
b7—b1
0000000 Cannot be
used
0000001 Network
address is 1
0000010 Network
address is 2
0000011 Network
address is 3
............ ............
1111110 Network
address is 126
1111111 Network
address is 127
CANopen
Transmission
rate setting
SW2
b3—b1
000 10K
001 20K
010 50K
011 125K
100 250K
101 500K
110 800K
111 1M

1-3
Network address switch setting range: 1~127 (0, 128~255 cannot be used).
Transmission rate switch setting range: 0~7 (8~15 cannot be used).
1.0.4 LED indicator descriptions
The module has RUN (green) and ERR (red) indicators built-in used to quickly diagnose
and monitor the communication statuses between the module itself and the bus.
Module status LED (RUN LED)
Used to monitor whether the equipment is operating normally.
Indicator
statuses Status name Description
Does not light
up Initial status Power not supplied
Continuous
flashing Pre-operation Preparation status
Single flash Stop Stopping
Green light
lights up Operation Operating
Error status LED (ERR LED)
Used to monitor the operability of the communication module CANopen network.
Indicator
statuses Status name Description
Does not light
up No error Operating
Single flash Warning Packet error
Double flash Error Guard/Heartbeat error
Red light lights
up Disconnected Bus closed
1.0.5 Driver parameter setting descriptions
Used to monitor the operability of the communication module CANopen network.
Users must first confirm related parameter settings on the driver in order to ensure that
the communication module can connect normally.
Parameters Parameter name Settings Settings descriptions
00-02 Operation command source
2 Communication control
00-05 Frequency command source
3 Communication control

1-4
1.0.6 Connection instructions
Service data object (SDO)
This module supports 1 SDO server, which means it can provide SDO service, and the
SDO uses the sending and receiving COB-ID of the predefined connection, 0x580 +
NodeID (sending) and 0x600 + NodeID (receiving).
Each SDO message includes a set of COB-ID (request SDO and response SDO); it
allows performing of access actions within two nodes. SDO can transmit any size of data,
but segment transmission must be used once it exceeds 4 bytes.
The COB IDs of SDO communication are as follows:
Read: Master to slave (request code 0x40) / Master to slave: 600H + Node ID
COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
(600H) + Node
ID
Reque
st
code
Object index Object
subind
ex
Request data
LSB MSB Reserved
Read: Slave response / slave to master: 580H + Node ID
COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
(580H) + Node
ID
Reque
st
code
Object index Object
subind
ex
Request data
LSB MSB bit0~
bit7
Bit8~
bit15
Bit16~
bit23
Bit24~
bit31
Response code:
43H: Read 4-byte data / 4BH: read 2-byte data / 4FH: read 1-byte data
Write: Master to slave (4-byte data maximum)
COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
(600H) + Node
ID
Reque
st
code
Object index Object
subind
ex
Request data
LSB MSB bit0~
bit7
Bit8~
bit15
Bit16~
bit23
Bit24~
bit31
Request code:
23H: Write a 4-byte data entry
2BH: Write a 2-byte data entry
2FH: Write a 1-byte data entry

1-5
Write: Slave to master (response code 0x60H)
COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
(580H) + Node
ID
Reque
st
code
Object index Object
subind
ex
Request data
LSB MSB Reserved
When we use SDO to perform control to the group 25H of the driver control group,
corresponding rules are as follows:
Index
25xxH (register
address)
For example, when we want to perform write/read to 2501H of the control group, the
corresponding SDO object index is the control group register address 2501H.
Perform operation with index 2501H directly and the module will automatically convert to
the A510s 2501H control group register address to perform operation.

1-6
1.0.7 Object index list
Basic index
Index Sub Name Default value R/W Size
Remarks
1000H 0 Device type 00010192H R U32
1001H 0 Error register 0 R U8
1005H 0 COB-ID SYNC message 80H R U32
1006H 0 Communication cycle period 0 RW U32
1008H 0 Manufacturer device name A510 R U32
1009H 0 Manufacturer hardware
version 1.0 R U32
100AH 0 Manufacturer software
version 1.00 R U32
1014H 0 COB-ID emergency 00000080H+Node-I
D R U32
1015H 0 Inhibit time EMCY 0 RW U16
1016H
0 number of entries 1 R U8
1 Consumer heartbeat time 0 RW U32
Not
supported
1017H 0 Producer heartbeat time 0 RW U16
1018H
0 number of entries 3 R U8
1 Vender ID 00000373H R U32
2 Product code 00000100H R U32
3 Revision 00010000H R U32
1200H
0 Server SDO Parameter 2 R U8
1 COB-ID Client Server 0000600H+Node-ID R U32
2 COB-ID Client Server 0000580H+Node-ID R U32
1400H
0 Number of entries 2 R U8
1 COB-ID used by PDO 00000200H+Node-I
D RW U32
2 Transmission Type 0xFF RW U8
1401H
0 Number of entries 2 R U8
1 COB-ID used by PDO 00000300H+Node-I
D RW U32
2 Transmission Type 0xFF RW U8
1600H
0 Number of entries 2 RW U8
1 1.Mapped Object 60400010H RW U32
2 2.Mapped Object 60420010H RW U32
3 3.Mapped Object 0 RW U32
4 4.Mapped Object 0 RW U32

1-7
Index Sub Name Default value R/W Size
Remarks
1601H
0 Number of entries 2 RW U8
1 1.Mapped Object 604F0010H RW U32
2 2.Mapped Object 60500010H RW U32
3 3.Mapped Object 0 RW U32
4 4.Mapped Object 0 RW U32
1800H
0 Number of entries 5 R U8
Number of
entries
1 COB-ID used by PDO 180H+Node-ID RW U32
2 Transmission Type 0xFF RW U8
Transmission
type
3 Inhibit time 0x64 RW U16
Inhibit time
4 CMS-Priority Group 0 RW U8
5 Event timer 0x64 RW U16
Event
timer
1801H
0 Number of entries 5 R U8
Number of
entries
1 COB-ID used by PDO 00000280H+Node-I
D RW U32
2 Transmission Type 0xFF RW U8
3 Inhibit time 0x64 RW U16
Inhibit time
4 CMS-Priority Group 0 RW U8
5 Event timer 0x64 RW U16
Event time
4 CMS-Priority Group 0 RW U8
5 Event timer 0x64 RW U16
Event time
2 Transmission Type 0xFF RW U8
3 Inhibit time 0x64 RW U16
Inhibit time
4 CMS-Priority Group 0 RW U8
5 Event timer 0x64 RW U16
Event time
1A00H
0 Number of entries 2 RW U8
1 1.Mapped Object 60400010 RW U32
2 2.Mapped Object 60420010 RW U32
3 3.Mapped Object 0 RW U32
4 4.Mapped Object 0 RW U32
1A01H
0 Number of entries 2 RW U8
1 1.Mapped Object 604F0010 RW U32
2 2.Mapped Object 60500010 RW U32
3 3.Mapped Object 0 RW U32
4 4.Mapped Object 0 RW U32

1-8
DS402 part
Index
Sub-
Index Name Default value R/W
Size Unit PDO
MAP
603F 0 Error code 0 RO U16 Yes
6040 0 Control word 0 RW U16 Yes
6041 0 Status word 0 RO U16 Yes
6042 0 vl target velocity 0 RW S16 Hz Yes
6043 0 vl velocity demand 0 RO S16 Hz Yes
604F 0 vl ramp function time
Acceleration time 100 RW U16 0.1S Yes
6050 0 vl slow down time
Deceleration time 100 RW U16 0.1S Yes
Driver control group command index
Command DATA (allows reading and writing)
Register
address Bit
Content
2500H Reserved
2501H Operation
signal
0 Operation command 1: Operate 0: Stop
1 Reverse command 1: Reverse 0: Forward
2 External error 1: Error
3 Error reset 1: Reset
4 Reserved
5 Reserved
6 Multi-function terminal S1 1: “ON”
7 Multi-function terminal S2 1: “ON”
8 Multi-function terminal S3 1: “ON”
9 Multi-function terminal S4 1: “ON”
A Multi-function terminal S5 1: “ON”
B Multi-function terminal S6 1: “ON”
C Multi-function terminal S7 1: “ON”
D Multi-function terminal S8 1: “ON”
E Controller mode 1: “ON”
F Communication setting torque command 1: “ON”
2502H *Frequency command (Unit: 0.01Hz)
2505H AO1 (0.00V ~ 10.00V)
2510H G12-00 H-WORD
2511H G12-00 L-WORD

1-9
Monitor DATA (read only)
Register
address Bit
Content
2520H Status
signal
0 Operation status 1: Operate 0: Stop
1 Direction status 1: Reverse 0: Forward
2 Frequency converter operation preparation status 1:
Preparation complete 0: Preparation not yet complete
3 Error 1: Abnormal
4 Warning 1: “ON”
5 Zero speed 1: “ON”
6 Model 440 1: “ON”
7 Frequency reached 1: “ON”
8 Any frequency reached 1: “ON”
9 Frequency detection one 1: “ON”
A Frequency detection two 1: “ON”
B Low voltage 1: “ON”
C Frequency converter no output 1: “ON”
D Frequency not according to communication 1: “ON”
E Operation not according to communication 1: “ON”
F Over-torque 1: “ON”
2521H Error
description
0 Reserved 31 Reserved
1 UV (Under-voltage) 32 Reserved
2 OC (Over-current) 33 Reserved
3 OV (Over-voltage) 34 Reserved
4 OH1 (Heat sink
overheat) 35
Reserved
5 OL1 (Motor overload) 36 Reserved
6 OL2 (Frequency
converter overload) 37
Reserved
7 OT (Over-torque) 38 CF07 (Motor control fault)
8 UT (Under-torque) 39 Reserved
9 SC (Short circuit) 40 Reserved
10 GF (Ground fault) 41 Reserved
11 FO 42 Reserved
12 IPL (Input phase loss) 43 Reserved
13
OPL (Output phase
loss) 44
Reserved
14 OS 45 Reserved
15 PGO 46 OH4 (Motor overheat)

1-10
Register
address Bit
Content
16 DEV 47 Reserved
17 EF1 48 Reserved
18 EF2 49 MtrSw (DI Motor Switch Fault)
19 EF3 50 OCA (Acceleration over-current)
20
EF4 51 OCD (Deceleration
over-current)
21 EF5 52 OCC (Operation over-current)
22 EF6 53 CF08
23 EF7 54 PTCLS
24 EF8 55 PF (Protection fault)
25
FB (PID feedback
signal error) 56
TOL
26
OPR(Keypad
Removed) 57
STO2 (Safety switch 2)
27 Reserved 58 Reserved
28 CE 59 Reserved
29 STO (Safety switch 1) 60 Reserved
30 Reserved 61 Reserved
2522H DI status
0 Multi-function
terminal S1 4
Multi-function
terminal S5 8~F
Reserved
1 Multi-function
terminal S2 5
Multi-function
terminal S6
2 Multi-function
terminal S3 6
Multi-function
terminal S7
3 Multi-function
terminal S4 7
Multi-function
terminal S8
2523H Frequency command (0.01Hz)
2524H Output frequency (0.01Hz)
2526H DC voltage command (0.1V)
2527H Output current (0.1A)
2528H Warning
description
0 No alarm 30 RDE 60 Reserved
1 OV 31 WRE 61 RETRY
2 UV 32 FB 62 SE07
3 OL2 33 VRYE 63 Reserved
4 OH2 34 SE01 64 Reserved
5 Reserved 35 SE02 65 OH1
6 OT 36 SE03 66 FIRE
7 Reserved 37 Reserved 67 ES

1-11
Register
address Bit
Content
8 Reserved 38 SE05 68 STP1
9 UT 39 HPERR 69 BDERR
10 OS 40 EF 70 EPERR
11 PGO 41 Reserved 71 Reserved
12 DEV 42 Reserved 72 Reserved
13 CE 43 RDP 73 STP0
14 CALL 44 Reserved 74 Reserved
15 Reserved 45 OL1 75 STP2
16 EF0 46 Reserved 76 RUNER
17 EF1 47 Reserved 77 LOC
18 EF2 48 Reserved 78 PTCLS
19 EF3 49 BB1 79 Sys Init
20 EF4 50 BB2 80 FBLSS
21 EF5 51 BB3
22 EF6 52 BB4
23 EF7 53 BB5
24 EF8 54 BB6
25 Reserved 55 BB7
26 Reserved 56 BB8
27 Reserved 57 Reserved
28 Reserved 58 Reserved
29 Reserved 59 Reserved
2529H DO status
252AH AO1
252BH AO2
252CH AI 1 input (0.1%)
252DH AI 2 input (0.1%)
252FH L510(s)/ E510(s)/ A510(s)/ F510 Check

1-12
1.0.8 Troubleshooting
There are two indicators on top of the CANopen communication module; when malfunction occurs,
the cause of the malfunction can be confirmed based on the indicator statuses, and troubleshoot
the error by following the descriptions below.
Indicator troubleshooting
Module status LED (RUN LED)
Indicator
statuses Status name Troubleshooting method
Does not
light up
Power not supplied to
the communication
module
1. Confirm whether the driver power is normal.
2. Confirm whether the power terminal of the
communication module is connected to the
driver.
Error status LED (ERR LED)
Indicator
statuses Status name Description
Single
flash CANopen packet error
Poor connection quality with the CANopen host
terminal or host not connected when powered
on. Continue transmission or power off
inspection can be selected. Two results can be
expected with continue transmission 1) Packet
transmission returns to normal and the red light
no longer flashes 2) Packet continues to have
errors causing disconnection. When the power is
off, check whether the TB1 terminal and cable
are firmly connected, and whether the
transmission rate, maximum transmission
distance and cable length comply with ODVA
specifications.
Double
flash Guard/Heartbeat error
User sends periodic heartbeat messages. If a
message is not received after a specific time,
please disconnect the power and check the
connection status of that node.
Red light
lights up Disconnected
Cannot connect with the CANopen host
terminal; disconnect the power and check
whether the TB1 terminal and cable is firmly
connected, and whether the transmission rate,
maximum transmission distance and cable
length comply with ODVA specifications.

1-13
1.0.9 EDS file
When using the CANopen communication module, if the EDS description file (JN5-CMHI-CAN_V
(latest version).eds) is needed, please download it from the TECO official website
(http://globalsa.teco.com.tw) or TWMC official website
(https://www.tecowestinghouse.com/drives-and-controls/ ).

1-14
2.0 I/O expansion card
2.0.1 Hardware and data structure
This product is an I/O expansion module; it allows performing of I/O expansion functions through
the SPI bus. Used with the TECO A510s/F510 AC motor driver (hereinafter referred to as a driver).
2.0.2 Product specifications
I/O ports
Item Specifications
Connector TB1 7 external contacts
AC motor driver port
Item Specifications
Connector Control board CN2 connector/CN5 connector
Transmission
method
SPI high speed communication
Terminal
functions
TB1 7 external contacts

Ver 02: 2020.01