Toshiba TOSVERT VF-AS3 User manual

E6581818⑭
TOSVERT VF-AS3 / S15 / MB1
EtherCAT®option unit Function Manual
IPE003Z
NOTICE
1. Read this manual before installing or operating. Keep this instruction manual on hand
of the end user, and make use of this manual in maintenance and inspection.
2. All information contained in this manual will be changed without notice. Please
contact your Toshiba distributor to confirm the latest information.

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Safety precautions
On the inverter and in its instruction manual, important information is contained for
preventing injuries to users and damages to assets and for proper use of the device.
Read the instruction manual attached to inverter along with this instruction manual for
completely understanding the safety precautions and adhere to the contents of these
manuals.
This option needs the option adaptor to connect VF-S15 which type form is SBP009Z.
Please match here and buy it when SBP009Z is not at hand yet.
After reading this function manual, please keep it handy for future reference.
For details of its general handling, see an instruction manual attached with the option unit.
- TOSVERT VF-AS3 Instruction Manual················································E6582062
- TOSVERT VF-S15 Instruction Manual················································E6581611
- TOSVERT VF-MB1 Instruction Manual···············································E6581697
- TOSVERT VF-MB1/S15/AS3 communication option Precautions Manual···E6582163
- VF-S15 Option Adapter Instruction Manual··········································E6581838
The items described in the instruction manual and on the inverter itself are very important
so that you can use safely the inverter, prevent injury to yourself and other people around
you as well as to prevent damage to property in the area. Thoroughly familiarize yourself
with the symbols and indications shown below and then continue to read the manual.
Make sure that you observe all warnings given.
Description of display
Display
Meaning
Warning
Indicates that "improper use may result in death or serious injury."
Caution
Indicates that "improper use may result in injury or only property damage."*1*2
*1: Injury means injury, burn, electric shock, etc. that do not require hospitalization or long-term hospital
visits for treatment.
*2: Property damage means extended damage related to damage to the properties and materials.
Meaning of symbols
Display
Meaning
Mark
Indicates prohibition (matters prohibited).
The concrete contents are indicated inside or near the symbol with a picture or text.
Mark
Indicates instructions (matters to be observed without fail).
The concrete contents are indicated inside or near the symbol with a picture or text.

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Warning
Mandatory
▼Shut off power when installing and wiring this option.
Wait at least 15 minutes and check to make sure that the charge lamp is no longer lit.
If steps above are not properly performed, this can result in electric shock or product
failure.
▼Use an emergency stop device and an additional safety device in your system to prevent
serious accident due to the option malfunctions.
Usage without any emergency stop device or any additional safety device can result in
accident or injury.
▼Use an additional safety device with your system to prevent a serious accident due to the
network malfunctions.
Usage without an additional safety device may cause an accident.
▼Make sure that the operation signals are STOP before resetting drive’s fault. The motor
may suddenly start and that may result in injuries.
▼Do not pull on any cable itself.
Doing so could result in damage or malfunction.
Caution
Prohibited
▼Do not connect to any communication device other than the one supported.
It may cause an accident.
▼Do not touch the sharp edges of the inverter or option.
Doing so could result in injury.
▼Do not use application of writing into inverter parameters more than 100,000 times.
The Life of EEPROM is approximately 100,000 times.
Frequent writing to the EEPROM of inverter will cause a memory corruption.
Mandatory
▼Insert an electromagnetic contactor between the inverter and the power supply so that
the machine can be stopped without fail from an external controller in case of an
emergency.
▼Set up “Communication error trip function (see below)”to stop the Inverter when the
option unit is deactivated by an unusual event such as tripping, an operating error,
power outage, failure, etc.
- Network Time-Out, Inverter operation at disconnection, Preset speed operation
selection
(Refer to "5.3.1 Network error detection (c100 - c103)" for details)
Deactivated the option module may cause an accident, if the “Communication error trip
function”is not properly set up.
Notes on use
Notes
▼Please install away from the place where temperature and humidity change rapidly.
▼Keep a distance of 20cm or more between the drive 's power cable and the data
transmission cable.
Or the drive might malfunction because of noise.
▼If the control power is turned off due to momentary power failure etc., communication
can not be performed temporarily.

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Table of Contents
1. PRODUCT VERSION AND ESI FILE.........................................................................................................5
2. OVERVIEW .................................................................................................................................................6
2.1. Specification.........................................................................................................................................6
3. NAMES AND FUNCTIONS.........................................................................................................................8
3.1. Outline..................................................................................................................................................8
3.2. RJ45 connector pin layout....................................................................................................................9
3.3. Status indicator...................................................................................................................................10
3.3.1. LED on the option .......................................................................................................................10
3.3.2. Labels on the inverter (Only for the VF-AS3)..............................................................................11
4. HARDWARE SETUP................................................................................................................................13
4.1. Mounting and removing......................................................................................................................13
4.1.1. Mounting and removing of option for VF-MB1............................................................................13
4.1.2. Mounting and removing of option for VF-S15.............................................................................13
4.1.3. Mounting and removing of option for VF-AS3.............................................................................13
5. PARAMETERS .........................................................................................................................................14
5.1. Communication parameters...............................................................................................................14
5.2. Communication parameters for IPE003Z...........................................................................................15
5.3. The details of the parameter setting...................................................................................................18
5.3.1. Network error detection (c100 - c103) ..............................................................................18
6. COMMUNICATION OBJECT ...................................................................................................................19
6.1. Communication Profile.......................................................................................................................19
6.1.1. RPDO: Receive PDO..................................................................................................................20
6.1.2. TPDO: Transmit PDO .................................................................................................................21
6.2. TOSHIBA drive profile........................................................................................................................22
6.3. Application Profile (CiA402) ...............................................................................................................23
6.4. Abort code (CiA 301)..........................................................................................................................24
7. RUNNING BY TOSHIBA DRIVE PROFILE..............................................................................................25
7.1. TOSHIBA Drive profile .......................................................................................................................25
7.1.1. fa06 : 0x2A06 (Communication command1).........................................................................28
7.1.2. fa23 : 0x2A23 (Communication command 2)........................................................................30
7.1.3. fa07 : 0x2A07 (Frequency reference from internal option) ...................................................32
7.1.4. fa33 : 0x2A33 (Torque command) (Only for the VF-AS3).....................................................32
7.1.5. fa50 : 0x2A50 (Terminal output data from communication)..................................................32
7.1.6. fa51 : 0x2A51(Analog output (FM) data from communication).............................................33
7.1.7. fa52 : 0x2A52(Terminal AM output data) (Only for the VF-AS3)........................................33
7.1.8. f441 : 0x2441 (Power running torque limit level 1)(Only for the VF-AS3).............................33
7.1.9. f443 : 0x2443 (Regenerative torque limit level 1)(Only for the VF-AS3)...............................33
7.1.10. f460 : 0x2460 (Speed control response 1)(Only for the VF-AS3) .....................................33
7.1.11. f461 : 0x2461 (Speed control stabilization coefficient 1)(Only for the VF-AS3)................33
7.1.12. fd01 : 0x2D01 (Inverter operating status 1 (real time))......................................................34
7.1.13. fd00 : 0x2D00 (Output frequency (real time))....................................................................36
7.1.14. fd03 : 0x2D03 (Output current (real time))......................................................................36
7.1.15. fe35:0x2E35, fe36: 0x2E36, fe37: 0x2E37 (Monitoring of the analog input) .........37
7.1.16. fe14 : 0x2E14 (Cumulative run time).................................................................................37
7.1.17. fe40 :0x2E40 (Analog output (FM)) ...................................................................................37
7.1.18. fe41 :0x2E41 (AM output monitor) (Only for the VF-AS3).................................................37
7.1.19. fc91 :0x2C91 (Alarm code)................................................................................................38
7.1.20. fd06 : 0x2D06 (Input TB Status)........................................................................................39
7.1.21. fd07 : 0x2D07 (Output TB Status).....................................................................................40
8. RUNNING BY CIA402 DRIVE PROFILE..................................................................................................41
8.1. CiA 402 drive profile...........................................................................................................................41
8.1.1. Object 0x6040: Controlword .......................................................................................................42
8.1.2. Object 6041: Statusword.............................................................................................................42
8.1.3. CiA402 State Chart.....................................................................................................................44
8.1.4.Information of CiA402 State........................................................................................................45
8.1.5. Object 0x6042: vl_target_velocity...............................................................................................47
8.1.6. Object 0x6043: vl_velocity_demand...........................................................................................47

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8.1.7. Object 0x6044: vl_velocity_actual_value....................................................................................47
8.1.8. Object 0x6046: vl_velocity_min_max_amount ...........................................................................47
8.1.9. Object 0x6048: vl_velocity_acceleration.....................................................................................48
8.1.10. Object 0x6049: vl_velocity_deceleration.................................................................................48
8.1.11. Object 0x604A: vl_velocity_quick_stop...................................................................................48
8.1.12. Object 0x605A: Quick stop option code..................................................................................49
8.1.13. Object 0x6060: Mode of operation..........................................................................................50
8.1.14. Object 0x6061: Mode of operation display..............................................................................50
8.1.15. Object 0x6502: Supported drive mode....................................................................................50
8.1.16. Object 603F: Error Code.........................................................................................................51
9. ETHERCAT STATE MACHINE (ESM).....................................................................................................53
10. EXAMPLE:VF-MB1 WITH TWINCAT®“PLC-CONFIGURATION”......................................................55
10.1. Hardware........................................................................................................................................55
10.2. TwinCAT®software installation ......................................................................................................55
10.3. ESI file (EtherCAT Slave Information)............................................................................................55
10.4. VF-MB1 configuration.....................................................................................................................55
10.5. System Manager: Declare your computer on Ethernet network ....................................................56
10.6. System Manager: Install the master...............................................................................................57
10.7. System Manager –Install the slave: MB1 in “PLC- configuration”.................................................59
10.8. PLC –Control: initialization ............................................................................................................60
10.9. PLC –Control: Declare the variables.............................................................................................61
10.10. System Manager –Append PLC Project........................................................................................62
10.11. PLC - Control: new compilation......................................................................................................64
10.12. System Manager: Activate configuration........................................................................................64
10.13. PLC - Control: Run .........................................................................................................................64
10.14. PLC - Control: start and stop the motor..........................................................................................64
10.15. PLC - Control: add a library for other services ...............................................................................65
10.16. Method of add the PDOs................................................................................................................66

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1.Product version and ESI file
It shows the differences by product version below.
Item
Suffix of the
TYPE-FORM
*2
Applicable model
ESI file *1
IPE003Z
Product version
None
VF-S15
TOSVERT_VFS15.xml
VF-MB1
TOSVERT_VFMB1.xml
“-1”
VF-AS3 (CPU1 version 106 or more)
TOSVERT_VFAS3_1.xml
VF-S15
TOSVERT_VFS15_1.xml
VF-MB1
TOSVERT_VFMB1_1.xml
*1: Regarding ESI (EtherCAT Slave Information) file in XML format for VF-MB1/S15/AS3,
Please contact your Toshiba distributor.
*2: Suffix can be checked by the labels on the product and the package.
.
Name label Package label
Suffix
Suffix

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2.Overview
The EtherCAT®interface (IPE003Z) allows the VF-MB1/S15/AS3 drive to be connected into the
EtherCAT®network. The drive is controlled by 2 drive profiles (CiA402 V3 or TOSHIBA).
Also, VF-MB1/S15/AS3 supports BECKHOFF software TwinCAT®V2.x with CODESYSY V2.
EtherCAT®and TwinCAT® are registered trademark and patented technology, licensed by Beckhoff
Automation GmbH, Germany.
2.1. Specification
Module specifications
Item
Specification
Type-form
IPE003Z
Applicable inverter
VF-MB1
VF-S15 with SBP009Z
VF-AS3 (CPU1 version 106 or more)
Connector
RJ45 2
Supported network
EtherCAT®
Supports the CoE only. Supports CANopen CiA®402 V3
drive profile
Indicator
4 LEDs indicating the communication status and error
status and 2 link status
Protection degree
IP20
Environments
Correspond to inverter.
Note) The maximum ambient temperature for VF-AS3 is
50 degrees when the option is installed.
Network specifications
Item
Specification
EtherCAT
Baud rate
100Mbps
Cyclic communication
PDO function *2
Acyclic communication
SDO function *3
Drive profile
CiA402 drive profile
TOSHIBA drive profile
Other support service
EtherCAT state machine
Emergency (EMCY)
Command reception time
About 5ms *1
*1: Command reception time is the time until the inverter is operated by RUN command on the cyclic
communication.

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*2: Cyclical Communication: PDO
• PDO is intended for use with the communication scanner according to CiA402.
• PDO overview (default settings)
RPDO
(CMD)
(LFRD)
(None)
(None)
(None)
(None)
TPDO
(ETA)
(RFRD)
(None)
(None)
(None)
(None)
CMD: Controlword
LFRD: Vl_Target_Velocity
ETA: Statusword
RFRD: Vl_Velocity_Actual value
The configuration means are:
• EtherCAT configuration tool, then the configuration is downloaded by the master.
*3: Acyclic Services: SDO
The VF-MB1/S15/AS3 manages a SDO server (Service Data Object). SDO telegrams are used for
configuration and adjustment, they are characterized by two identifiers:
• One for requests (telegrams sent from the PLC to the VF-MB1/S15/AS3)
• One for responses (telegrams sent back to the PLC by the VF-MB1/S15/AS3)

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3.Names and functions
The drawing below shows names and functions of main parts.
3.1. Outline
Shielded female RJ45
Ethernet Connector
(Port IN)
LED indicator (See 3.3)
Shielded female RJ45
Ethernet Connector
(Port OUT)
Connector to the inverter
Release tab
ERR
X2 L/A
RUN
L/A X1
X1 means EtherCAT IN port,
X2 means EtherCAT OUT port

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3.2. RJ45 connector pin layout
The EtherCAT®unit is equipped with two shielded RJ45 connectors. When you use
VF-MB1/AS3, the shielding is connected to the drive ground. When you use VF-S15, the
shielding is connected to the grounding terminal of option adapter.
Use an STP (shielded twisted pair) Ethernet cable.
The transmission speed is detected automatically by the card (100 Mbps).
The card can operate in half duplex or full duplex mode, whether connected to a hub or a
switch and regardless of the transmission speed (100 Mbps).
Pin
Signal
Meaning
1
TX+
Ethernet transmit line +
2
TX-
Ethernet transmit line -
3
RX+
Ethernet receive line +
4
-
5
-
6
RX-
Ethernet receive line -
7
-
8
-
* Fix a cable so that a communication connector may be not taken the weight of wire.
Cable specifications
•Minimum Cat 5e,
•Connector RJ45, no crossover cable
•Shield: both ends grounded
•Twisted pair cable
•Cable: 8 x 0.25 mm2(8 x AWG 22)
•Use pre-assembled cables to reduce the wiring mistakes,
•Verify that wiring, cables and connected interfaces meet the PELV (Protective
Extra-Low Voltage) requirements.
•Maximum cable length = 100 m (328 ft)
Port IN (X1 L/A EtherCAT)
and Port OUT (X2 L/A EtherCAT)
8 1

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3.3. Status indicator
3.3.1. LED on the option
The LEDs shows the present
status of the network and module.
The behavior of X1 L/A LED and L/A X2 LED
These LEDs indicate the status of the EtherCAT IN port (X1 L/A) and OUT port (L/A X2)
Color and behavior
Meaning
OFF
No link
Green ON
Link, no activity
Green Flickering
Link, activity
The behavior of RUN LED
It LED indicate the RUN status or RUN error
Color and behavior
Meaning
OFF
EtherCAT state: INIT
Green blinking
EtherCAT state: PRE-OPERATIONAL
Green single flashing
EtherCAT state: SAFE-OPERATIONAL
Green ON
EtherCAT state: OPERATIONAL
Red ON
Fatal error
Red Flickering
EtherCAT state: INITIALISATION or BOOTSTRAP
The behavior of ERR LED
It LED indicate the network status or network error
Color and behavior
Meaning
OFF
No detected fault
Red ON
Fatal error
Red blinking
Invalid configuration
Red single flashing
Local error (such as synchronization error)
Red double flashing
Watchdog timeout
Red Flickering
Booting Error
LED Behavior Detail
ERR
L/A X2
RUN
X1 L/A
IN
OUT

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3.3.2. Labels on the inverter (Only for the VF-AS3)
When EtherCAT option is used, please stick the LED label and Link-status information
label to VF-AS3. These labels are enclosed with the option.
3.3.2.1. LED label
Please stick the LED label for EtherCAT option to lower side of communication indicator
of VF-AS3.
ERR is displayed to the NET1-LED together on communication indicator. RUN is
displayed to the NET2-LED together on communication indicator. See “3.3.1.LED on the
option”about ERR and RUN.
Link-status information label
LED label

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3.3.2.2. Link-status information label
Please stick the Link-status information label to the front cover of VF-AS3. This
information needs for the user when the LED of Link-status is checked.
Frame size
Type-Form
240V
480V
A1
VFAS3-2004P to 2022P
VFAS3-4004PC to 4037PC
A2
VFAS3-2037P
VFAS3-4055PC, 4075PC
A3
VFAS3-2055P, 2075P
VFAS3-4110PC to 4185PC
A4
VFAS3-2110P to 2185P
VFAS3-4220PC to 4370PC
A5
VFAS3-2220P to 2370P
VFAS3-4450PC to 4750PC
A6
VFAS3-2450P, 2550P
VFAS3-4900PC to 4132KPC
A7
-
VFAS3-4160KPC
A8
-
VFAS3-4200KPC to 4280KPC
Figure: The position of the Link-status information label
Warning
Prohibited
▼Never remove the front cover when the power is on.
Doing so could result in electric shock.
Frame size A1
Frame size A2
Frame size A3
Frame size A4
Frame size A5
Frame size A6
Frame size A7
Frame size A8

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4. Hardware Setup
When using this product with VF-S15, sold separately VF-S15 option adapter (SBP009Z) is required.
4.1. Mounting and removing
Warning
Mandatory
action
▼ The mounting/removing of option must be performed without supplying power (Turn off
all input power, wait at least 15 minutes, confirm that the charge lamp of inverter is no
longer lit). The inverter and option can become damaged.
▼ Do not use tool for the mounting/removing of option. The inverter and option can become
damaged.
4.1.1. Mounting and removing of option for VF-MB1
Way for mount and remove the option, refer to [Optional external devices] of E6581697.
4.1.2. Mounting and removing of option for VF-S15
Way for mount and remove the option, refer to [Optional external devices] of E6581611.
4.1.3. Mounting and removing of option for VF-AS3
Way for mount and remove the option, refer to [Mounting/removing insert type options] of E6582062.

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5.Parameters
5.1. Communication parameters
Set up the drive parameters as follows. It is necessary to reset the drive to update the parameter.
This option doesn't operate if these parameters are not correctly set.
Reset by power-on/off or set F899 to 1 after these parameters are set.
VF-MB1/S15
Title
Comm
unicati
on No.
Function
Description
Default
(Setting)
cmod
0003
Command mode selection
0: Terminal board
1: Panel keypad (including remote keypad)
2: RS485 communication
3: CANopen communication
4: Communication option
1
(4)
fmod
0004
Frequency setting mode
selection 1
0: Setting dial 1 (save even if power is off)
1: Terminal board VIA
2: Terminal board VIB
3: Setting dial 2 (press in center to save)
4: RS485 communication
5: UP/DOWN from external logic input
6: CANopen communication
7: Communication option
8: Terminal board VIC
9, 10: -
11: Pulse train input
0
(7)
VF-AS3
Title
Comm
unicati
on No.
Function
Description
Default
(Setting)
cmod
0003
Command mode selection
0: Terminal
1: Operation panel, Extension panel
2: Embedded Ethernet
3: RS485 communication (connector 1)
4: RS485 communication (connector 2)
5: Communication option
0
(5)
fmod
0004
Frequency setting mode
selection 1
0: -
1: Terminal RR
2: Terminal RX
3: Terminal II
4: Terminal AI4 (option)
5: Terminal AI5 (option)
6 - 9: -
10: Touch wheel 1 (power off or press OK to save)
11: Touch wheel 2 (press OK to save)
12: Sr0
13,14: -
15: Terminal Up/Down frequency
16: Pulse train
17: High resolution pulse train (option)
18,19: -
20: Embedded Ethernet
21: RS485 communication (connector 1)
22: RS485 communication (connector 2)
23: Communication option
1
(23)

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Title
Comm
unicati
on No.
Function
Description
Default
acc
0009
Acceleration time 1
VF-MB1/S15 : 0.0 –3600s
VF-AS3 : 0.0 –6000s
Note1)
*5
dec
0010
Deceleration time 1
VF-MB1/S15 : 0.0 –3600s
VF-AS3 : 0.0 –6000s
Note1)
*5
fh
0011
Maximum frequency
VF-MB1/S15 : 30.0 –500.0Hz
VF-AS3 : 30.0 –590.0Hz
Note2)
ul
0012
Upper limit frequency
VF-MB1/S15 : 0.5 –fh
VF-AS3 : 0.0 –fh
Note3)
*6
f856
0856
Number of motor pole for
communication
1: 2 poles
2: 4 poles
3: 6 poles
4: 8 poles
5: 10 poles
6: 12 poles
7: 14 poles
8: 16 poles
2
f899
0899
Communication function reset
0: -
1: Reset (after execution: 0)
0
Note1) VF-MB1/S15 : 10.0s , VF-AS3 : Parameter values vary depending on the capacity.
Note2) VF-MB1/S15 : 80.0Hz , VF-AS3 : Depending on the setup menu.
Note3) VF-MB1/S15 : 60.0Hz , VF-AS3 : Depending on the setup menu.
5.2. Communication parameters for IPE003Z
note) The parameters with hatching are for monitoring. The value and index of PDO are able to be
confirmed by C001 to C026 and C410 to C421. Don’t set them to any value.
Title
Comm
unicati
on No.
Function
Description
Default
c001
C001
Scanner input 1 address
0: None
1: fa06 (Communication command 1)
2: fa23 (Communication command 2)
3: fa07 (Frequency command, 0.01Hz)
4: fa33 (Torque command 0.01%) [VF-AS3] *4
5: fa50 (Terminal output data from comm.)
6: fa51 (Analog output (FM) data from comm.)
7: fa52 (Analog output(AM) data from comm.) [VF-AS3] *4
8: f601 (Stall prevention level, %)
9: f441 (Power running torque limit 1 level,
0.01%) [VF-AS3] *4
10: f443 (Regenerative braking torque limit 1 level,
0.01%) [VF-AS3] *4
11: f460 (Speed loop proportional gain) [VF-AS3] *4
12: f461 (Speed loop stabilization coefficient) [VF-AS3] *4
13: acc (Acceleration time 1, 0.1s) *1
14: dec (Deceleration time 1, 0.1s) *1
15: ul (Upper limit, 0.01Hz)
16: vb (Torque boost value 1, 0.1%),
(Torque boost value 1, 0.01%)[VF-AS3]
17: vlv (Base frequency voltage 1, 0.1V)
100: CMD
101: LFRD
100*2
c002
C002
Scanner input 2 address
0-101 (Same as c001)
101*2
c003
C003
Scanner input 3 address
0-101 (Same as c001)
0*2
c004
C004
Scanner input 4 address
0-101 (Same as c001)
0*2
c005
C005
Scanner input 5 address
0-101 (Same as c001)
0*2
c006
C006
Scanner input 6 address
0-101 (Same as c001)
0*2

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Title
Comm
unicati
on No.
Function
Description
Default
c021
C021
Scanner output 1 address
0: None
1: fd01 (Inverter status 1)
2: fd00 (Output frequency, 0.01Hz)
3: fd03 (Output current, 0.01%)
4: fd05 (Output voltage, 0.01%)
5: fc91 (Inverter alarm)
6: fd22 (PID feedback value, 0.01Hz)
7: fd06 (Input terminal status)
8: fd07 (Output terminal status)
9: fe36 (VIB input, 0.01%) / fe35 (RR input) [VF-AS3] *4
10: fe35 (VIA input, 0.01%) / fe36 (RX input) [VF-AS3] *4
11: fe37 (VIC input, 0.01%) / fe37 (II input) [VF-AS3] *4
12: fd04 (Input voltage (DC detection), 0.01%)
13: fd16 (Estimated speed (real-time value), 0.01Hz)
14: fd18 (Torque, 0.01%)
15: fe60 (My monitor 1) [VF-AS3] *4
16: fe61 (My monitor 2) [VF-AS3] *4
17: fe62 (My monitor 3) [VF-AS3] *4
18: fe63 (My monitor 4) [VF-AS3] *4
19: f880 (Free notes)
20: fd29 (Input power, 0.01kW)
21: fd30 (Output power, 0.01kW)
22: fe14 (Cumulative operation time, 0.01 = 1 hour)
23: fe40 (FM terminal output monitor, 0.01%)
24: fe41 (AM terminal output monitor) [VF-AS3] *4
25: fd20 (Torque current, 0.01%)
26: fd23 (Motor overload factor, 0.01%)
27: fd24 (Drive overload factor, 0.01%)
28: fd25 (PBR overload factor, %)
29: fd26 (Motor load factor, %)
30: fd27 (Drive load factor, %)
31: fe56 (Pulse train input, pps)
32: fe70 (Drive rated current, 0.1A)
33: fe76 (Input Watt-hour, 1kWh 10f749)
34: fe77 (Output Watt-hour, 1kWh 10f749)
35: fd83 (IGBT temperature, degree C)
100: ETA
101: RFRD
100*2
c022
C022
Scanner output 2 address
0-101 (Same as c021)
101*2
c023
C023
Scanner output 3 address
0-101 (Same as c021)
0*2
c024
C024
Scanner output 4 address
0-101 (Same as c021)
0*2
c025
C025
Scanner output 5 address
0-101 (Same as c021)
0*2
c026
C026
Scanner output 6 address
0-101 (Same as c021)
0*2
c100
C100
Communication error
detection delay time
0.0 - 100.0 sec.
0.0sec
c101
C101
Inverter operation at the
communication loss action
0: Stop and controlled by cmod, fmod
1: Operation continue
2: Deceleration stop
3: Coast stop
4: Network error stop (err8 trip)
5: Preset speed operation (by c102 setting)
4
c102
C102
Preset speed
operation selection
0: None
1 to 15: Preset speed
0
c103
C103
Communication time-out
condition selection
0: Disconnection detection
1: When communication mode enable (Both cmod and
fmod are set CANopen or communication option)
only
2: 1 + Driving operation
0

E6581818⑭
- 17 -
Title
Comm
unicati
on No.
Function
Description
Default
c400
C400
EtherCAT slave status
1: INIT Initialization
2: PREOP Pre-operational
3: BOOTTRAP Bootstrap
4: SAFE-OP Safe operational
In SAFE-OP mode, inputs are updated in PDOs,
outputs are not valid.
8: OP Operational
In OP mode, inputs and outputs are valid.
1
c401
C401
EtherCAT second
address
0 - 65535
Address changeable from drive or from master via 2nd
address dialog.
0*7
c402
C402
EtherCAT address
Actual value
0 - 65535
The monitor of the EtherCAT address actual value
0*3
c410
C410
PDO: Command1
Index 0x1600 sub-index 0x01 Command Index No.
0x6040: Controlword
0x6040
*3
c411
C411
PDO: Command2
Index 0x1600 sub-index 0x02 Command Index No.
0x6042: vl target velocity
0x6042
*3
c412
C412
PDO: Command3
Index 0x1600 sub-index 0x03 Command Index No.
0*3
c413
C413
PDO: Command4
Index 0x1600 sub-index 0x04 Command Index No.
0*3
c414
C414
PDO: Command5
Index 0x1600 sub-index 0x05 Command Index No.
0*3
c415
C415
PDO: Command6
Index 0x1600 sub-index 0x06 Command Index No.
0*3
c416
C416
PDO: Monitor1
Index 0x1A00 sub-index 0x01 Monitor Index No.
0x6041: vl Statusword
0x6041
*3
c417
C417
PDO: Monitor2
Index 0x1A00 sub-index 0x02 Monitor Index No.
0x6044: vl velocity actual value
0x6044
*3
c418
C418
PDO: Monitor3
Index 0x1A00 sub-index 0x03 Monitor Index No.
0*3
c419
C419
PDO: Monitor4
Index 0x1A00 sub-index 0x04 Monitor Index No.
0*3
c420
C420
PDO: Monitor5
Index 0x1A00 sub-index 0x05 Monitor Index No.
0*3
c421
C421
PDO: Monitor6
Index 0x1A00 sub-index 0x06 Monitor Index No.
0*3
c858
C858
Vl_Velocity_Max_Amount
0 –0xFFFF (min-1)
0x05dC
(1500)*6
c860
C860
Vl_Velocity_Acceleration
Delta_Speed
0 –0xFFFF (s)
0x05dC
(1500) *5
c862
C862
Vl_Velocity_Acceleration
Delta_Time
0 –0xFFFF (min-1)
0x000A
(10)*5
c863
C863
Vl_Velocity_Deceleration
Delta_Speed
0 –0xFFFF (s)
0x05dC
(1500) *5
c865
C865
Vl_Velocity_Deceleration
Delta_Time
0 –0xFFFF (min-1)
0x000A
(10) *5
*1: Do not change the acceleration/deceleration time unit (parameter f519), if change the
parameter, the setting value range will be different from above range.
*2: These parameters are according to c410~ c421 parameters. These default values were
set when the EtherCAT option was installed.
*3: These parameters are set from master (TwinCAT®).
*4: The description and setting are only for the VF-AS3.
*5: Acceleration time 1 (acc) and deceleration time 1 (dec) are worked when cmod isn’t
“Communication option”. If cmod is “Communication option”, Acceleration and deceleration
time 1 are worked by c860, c862, c863, c865. See “7.1.TOSHIBA Drive profile” for
the detailed information.
*6: Upper limit frequency (ul) isn’t worked when c858 isn’t 0. Set c858 to the upper limit
speed. See “7.1.TOSHIBA Drive profile” for the detailed information.
*7: EtherCAT second address (c401) can’t be copied by Remote keypad (RKP002Z, RKP006Z).
Warning
Mandatory
action
Set up “Communication error trip function (c100 to c103)”to stop the drive when
EtherCAT®communication is deactivated.

E6581818⑭
- 18 -
5.3. The details of the parameter setting
5.3.1. Network error detection (c100 - c103)
▼Display of trip information
err8 (Optional unit fault 1: 0x001B): Network error stop
▼Related parameter
Title
Function
Setting range
Description
c100
Communication error
detection delay time
0.0-100.0 sec
The waiting time from when a network error occurs can
be adjusted. If a network error continues past the time set
in c100, it is recognized as a communication error and
the operation of the drive follows the setting of c101.
When normal communication returns during the setting
time, a communication error is not displayed and operation
is continued.
*The time unit time-out operates =
EtherCAT watchdog + c100 (communication error
detection delay time) [0.1s]
c101
Inverter operation at the
communications lossaction
0-5
The operation of the drive when the communication fault
occurs can be specified.
0: Stop and Communication release *
(follows cmod and fmod setting)
1: None
2: Deceleration stop
3: Coast stop
4: Emergency stop
5: Preset speed operation command
(Operating at the preset speed operation frequency set
with c102)
c102
Preset speed operation
selection
0-15
The operation frequency of the drive when the
communication fault occurs can be specified. (Only when
c101 is set to 5)
c103
Communication time-out
condition selection
0-2
Select the communication time-out condition
0: Disconnection detection
1: When communication mode enable (Both cmod
and fmod are set CANopen or COM option)
2: 1+Driving operation.
*The behavior of the drive in the system that connected two (or more) drive by the EtherCAT
network.
When the cable of OUT of drive at the first position is removed,
the drive at the first position did not detect communication abnormality.
The drive at the second position detected communication abnormality.
The master station was able to send data (LFRD) to drive at the fist position.
However, information (ETA and RFRD) on the drive was not able to be read.
It seems that TwinCAT’s problem.
TwinCAT
Drive at the
second position
IN
OUT
Drive at the
first position
IN
OUT

E6581818⑭
- 19 -
6.Communication Object
Object Dictionary has mainly 3 profile sets.
⚫Communication profile area (Index 0x1000 to 0x1FFF)
⚫TOSHIBA drive profile area (Index 0x2000 to 0x5FFF)
⚫CiA402 drive profile area (Index 0x6000 to 0x9FFF)
Setting and reading to each profile (Index) are operated from master.
See the manual of master in detail.
See “10.3.ESI file (EtherCAT Slave Information)”about the way to integrate ESI file to
master (TwinCAT®).
6.1. Communication Profile
These objects are CANopen communication configuration settings. These communication
profile object cannot be mapped into PDO.
Index
Sub
index
Access
Type
Default value
Description
0x1000
0x00
RO
u32
0x00410192
Device type
Bits 24-31 not used (0),
Bits 16-23 = Type of device (65)
Bits 0-15 = Device profile number (402)
0x1001
0x00
RO
u8
0x00
Error register : Error (= 1) or no error (= 0)
0x1003*
0x00
RO
u8
0x00
Number of errors: Only one possible error (1), located in
object #1003 sub 01
0x01
to
0x10
RO
u32
(Null)
Standard error field:
Bits 16-31 = Additional information (always 0)
Bits 00-15 = Error code parameter
0x1008
0x00
RO
string
-
Manufacturer device name
This value depends on the drive name. ex. VFS15-2007PM
0x1018
0x00
RO
u8
0x04
ID object: Number of objects
0x01
RO
u32
0x00000284
ID object: Supplier ID
0x00000284 : Toshiba Schneider Inverter Co.
0x02
RO
u32
0x000000E1
Product code
0x03
RO
u32
0x00010002
Revision number
0x04
RO
u32
-
Serial number
*Note: Error code data are cleared of the 0x1003 object when executed the reset from
power reset, terminal board, Panel Keypad, FA06 (reset command) and parameter
reset (f899 = 1).