Toshiba TOSVERT VF-MB1 User manual

E6581692③
TOSVERT VF-MB1 series
CANopen®
Communication Function Manual
NOTICE
1. Make sure that this function manual is delivered to the end user of VF-MB1 inverter.
2. Read this manual before communicating CANopen®. Keep it in a safe place for
reference.
3. All information contained in this manual are subject to change without notice. Please
confirm the latest information on our web site “www.inverter.co.jp”.

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Introduction
Thank you for purchasing TOSVERT VF-MB1 series Inverter.
Before using CANopen®communication function, carefully read this function manual in order to completely
and correctly utilize its excellent performance.
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-MB1 Instruction Manual ･･･････････････････････････････････ E6581697
･TOSVERT VF-MB1 Communications Function Instruction Manual ･･･････････ E6581726
* CANopen®and CiA are a registered trademark of CAN in Automation.
Handling in general
Danger
Mandatory
Do not connect or disconnect a network cable while the Inverter power is on.
It may lead to electric shocks or fire.
See the instruction manual attached with the option unit for cautions the handling.
Otherwise, it may lead to electric shocks, fire, injuries or damage to product.
Network control
Danger
Prohibited
Do not send the value out of the valid range to network variables.
Otherwise, the motor may suddenly start/stop and that may result in injuries.
Mandatory
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.
Warning
Mandatory
Set up “Communication error trip function (see below)” to stop the Inverter when the
network is deactivated by an unusual event such as tripping, an operating error, power
outage, failure, etc.
- Communication error trip time, Operation at communication error
(Refer to “6.4 Communication disconnection detection function” for details)
Deactivated the Inverter may cause an accident, if the “Communication error trip
function” is not properly set up.
Make sure that the operation signals are STOP before resetting Inverter’s fault. The
motor may suddenly start and that may result in injuries.
Notes on operation Notes
When the control power is shut off by the instantaneous power failure, communication
will be unavailable for a while.
The Life of EEPROM is approximately 100,000 times. Avoid writing a command more
than 100,000 times to the same parameter of the Inverter and the communication board.

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Table of Contents
1. Scope..................................................................................................................................................4
1.1. Overview ....................................................................................................................................4
2. Names and functions of main parts ....................................................................................................4
2.1. Name of main parts....................................................................................................................4
2.2. LED indicator (CiA 303-3) ..........................................................................................................5
2.3. CAN RUN LED indicator ............................................................................................................5
2.4. CAN ERR LED indicator ............................................................................................................5
2.5. Command & Setpoint selection (Local/Remote)........................................................................6
2.6. Cable Specification ....................................................................................................................6
2.7. Network configuration ................................................................................................................7
2.8. Bus cable length (CiA 303-1) .....................................................................................................8
2.9. Example of SCAN time ..............................................................................................................9
3. Parameters .......................................................................................................................................10
3.1. Command and Freq. Reference setting...................................................................................10
3.2. Communication parameters.....................................................................................................11
4. Communication Object .....................................................................................................................15
4.1. Communication Profile (DS 301) .............................................................................................15
4.1.1. Communication Profile (1000 to 11FFh) .........................................................................15
4.1.2. SDO sever object ............................................................................................................16
4.1.3. PDO object ......................................................................................................................17
4.1.4. RPDO object....................................................................................................................17
4.1.5. TPDO object ....................................................................................................................19
4.2. Manufacturer specific profile ....................................................................................................20
4.3. Device Profile (CiA 402)...........................................................................................................21
5. Drive profile.......................................................................................................................................22
5.1. Velocity mode object ................................................................................................................22
5.1.1. Object 603Fh: Error Code ...............................................................................................23
5.1.2. Object 6040h: Controlword..............................................................................................25
5.1.3. Object 6041: Statusword .................................................................................................27
5.1.4. Object 6042: vl_target_velocity .......................................................................................27
5.1.5. Object 6043h: vl_velocity_demand .................................................................................27
5.1.6. Object 6044: vl_velocity_actual_value ............................................................................27
5.1.7. Object 6046: vl_velocity_min_max_amount....................................................................28
5.1.8. Object 6048h: vl_velocity_acceleration...........................................................................28
5.1.9. Object 6049: vl_velocity_deceleration.............................................................................28
5.1.10. Object 604A: vl_velocity_quick_stop...............................................................................28
5.1.11. Object 605A: Quick stop option code..............................................................................28
5.1.12. Object 6060: Modes of operation ....................................................................................29
5.1.13. Object 6061: Modes of operation display........................................................................29
5.1.14. Object 6502: Supported drive mode ...............................................................................29
6. Control from CANopen Network .......................................................................................................30
6.1. NMT state machine ..................................................................................................................30
6.2. SDO communication ................................................................................................................30
6.2.1. Read object (Upload object)............................................................................................31
6.2.2. Write object (Download object) .......................................................................................31
6.2.3. Abort code .......................................................................................................................32
6.3. PDO communication ................................................................................................................33
6.3.1. TxPDO and RxPDO communication type .......................................................................33
6.3.2. RTR (Remote Transfer Request) communication...........................................................34
6.3.3. SYNC communication .....................................................................................................34
6.3.4. Emergency object............................................................................................................34
6.4. Communication disconnection detection function....................................................................35
6.4.1. Heartbeat Consumer .......................................................................................................35
6.4.2. Heartbeat producer .........................................................................................................35

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6.4.3. Node Guarding ................................................................................................................35
6.4.4. NMT Boot-up ...................................................................................................................36
7. Example communication...................................................................................................................37
7.1. Asynchlonous communication .................................................................................................37
7.2. SYNC communication ..............................................................................................................39
8. Specifications....................................................................................................................................41
8.1. Data and operating specification..............................................................................................41
8.2. CANopen device specification .................................................................................................41
8.3. Connecting of CANopen communication option ......................................................................42

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1. Scope
1.1. Overview
Thank you for purchasing TOSVERT VF-MB1 inverter. VF-MB1 can connect with open field network
CANopen®network and data communications with VF-MB1 and the VF-MB1 CANopen®option supports
up to 64 nodes for one segment.
By using CANopen®function, the monitor of run/stop and the setting change of the parameter become
possible from the network, and it can cope with various applications.
This manual is also aimed at the operator using "VF-MB1", so please use it for future maintenance and
inspection.
2. Names and functions of main parts
2.1. Name of main parts
Pin CiA 303-1
RS3 RJ45
signal Note
1 CAN_H CAN_H CANopen signal
2 CAN_L CAN_L
3 CAN_GND CAN_GND
4 reserved DA RS485(+)
5 reserved DB RS485(-)
6 (CAN_SHLD
) ---
7 (GND) P24
8 (CAN_V+) 0VM
RJ45
Communication
connector
CANopen
LED indicator
CAN
RUN
CAN
ERR
18
RJ45

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2.2. LED indicator (CiA 303-3)
RUN and ERR LED indicate CANopen®communication Status and Error condition.
2.3. CAN RUN LED indicator
The option has two LEDs. Those functions are below table.
CAN RUN Status LED
CAN ERR Status LED State Description
Blinking
PRE-OPERATIONAL The device is in state
PRE-OPERATIONAL
Single flash
STOPPED The device is in state STOPPED
RUN : On
ERR : Off OPERATIONAL The device is in state
OPERATIONAL
2.4. CAN ERR LED indicator
The option has two LEDs. Those functions are below table.
CAN RUN Status LED
CAN ERR Status LED State Description
RUN : ---
ERR : Off No Error The device is in working condition
Single flash
Warning limit reached
At least one of the error counters of
the CAN controller has reached or
exceeded the warning level (too
many error frames)
Double flash
Error control event
A guard event (NMT-slave or
NMT-master) or a heartbeat event
(heartbeat consumer) has occurred
RUN : ---
ERR : On Bus off The CAN controller is bus off
200 ms
ON
OFF
ON
OFF
200m
s
1s
ON
OFF
ON
OFF
200 ms 1
s
ON
OFF
ON
OFF
200m
s
1s
ON
OFF
ON
OFF

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2.5. Command & Setpoint selection (Local/Remote)
CANopen®communication command and setpoint are activated on Remote mode.
Inverters have some switches to select the command and setpoint location. Following figure shows the
diagram. Refer to the inverter instruction manual for the parameter in detail.
Command
Setp oi nt
Control terminal
Operation panel
Seri al C omm. (RS485)
Serial Comm. (CANopen®)
Network option
Operation panel
:
Serial Comm. (RS485)
UP/DOWN
Serial Comm. (CANopen®)
:
Operation panel
RUN/STOP
“LOC ” key
Remote panel (RKP007Z)
cmod
fmod
0
:
4
5
6
:
1
0
1
0
Input terminal function
48 (SCLC)
Forced local from comm..
f207
Selection
0
1
0
1 REM
LO C
REM
LOC
0
1
2
3
4
Input terminal function
104 (FCHG)
Setpoint se le ctio n swi tc h
Input terminal function
108 (CM TB)
Command from terminal
Control
Te rmi na l
RS485
(fa01)
RS485
(fa00)
Operation panel
Dial (fc)
2.6. Cable Specification
Recommended cable specification is below
AC parameters : 120 ohm impedance and 5ns/m specific line delay
Selected recommended cable is below.
Manufacture : NIHON ELECTRIC WIRE & CABLE Co., LTD.
www.nihondensen.co.jp
Distributor : Showa Denki Co., Ltd.
www.showa-dk.co.jp
Model No. CANC-22
Conductor size 24 AWG, 0.22mm2
Number of pairs 2 (Blue/White, Yellow/ Green)
Conductor resistance
at 20 Centigrade less than 88.0 ohm/km
Capacitance less than 60nF/km (1kHz)
Characteristic impedance 120 ohm +/-10% (1MHz)
Delay 5 ns typ. (1MHz)
Overall dia. Approx. 8.5mm
UL style No. UL 2704
Weight 75kg/km
* Fix a cable so that a communication connector may be not taken the weight of wire.

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2.7. Network configuration
Make up the network as follows.
- Transmission/reception signals (CAN_H, CAN_L)
Make up the communication path by connecting twisted cables with shield.
- Signal common (CAN_GND)
GND is the signal common.
- Grounding the shield of cable (CAN_SHLD)
Connect the all shield lines of network cable. The shield shall be grounded at one end only prevent
currents from being created.
- Termination resistor
A termination resistance of 120 ohms plus or minus 5% shall be connected at each of the two ends of
the segment medium.
TERM CAN_H
CAN_L
CAN_GND
Master
120
CAN_H
CAN_L
CAN_GN D
Slave Node
CAN_H
CA N_L
CAN_GND
Slave Node
TERM
120
CAN_SHLD
Communication
Cable
Communication
Cable
CAN _SHLD
CAN_SHLD
N.B.:RJ45 connector shield case is connected to the drive frame grounded in the drive.
Keep the network cables 20cm or more separate from the power cables to prevent from
malfunctioning due to electromagnetic noise.

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2.8. Bus cable length (CiA 303-1)
Bus cable length depends on the below items.
a) Number of the slave
b) Cable type
c) Bit rate
AC parameters : 120 ohm impedance and 5ns/m specific line delay
Number of Node and Bit rate.
Bit rate
Number of node Lu
max ∑Lu
20 40 60 80 100 120
1M 25m 1.5m 5m
800k 50m 2.5m 7.5m
500k 100m 5m 25m
250k
219m
(193m)
198m
(174m)
181m
(159m)
160m
(146m)
154m
(135m)
143m
(126m)
10m 50m
125k 20m 100m
50k 60m 350m
20k 150m *1 750m
10k 300m *1 1500m
CANC-22 (CAT5) cable
*1: Limited by Number of node
Master
Slave Slave Slave
RSlave
Lu
Slave
･･･
L

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2.9. Example of SCAN time
Below table is the recommended scan time depend on the number of the drive and the baud rate.
1 unit : Tx 8byte(4word) / Rx 8byte(4word) ･･･ total 129bit (include stub 5 bits)
Delay : 3.5ms
Margin : 80%
SCAN time (ms)
Drive Unit No.
bps 8 16 32 48 64
1M 7 9 14 19 25
800k 7 10 17 23 30
500k 9 14 25 35 45
250k 14 25 45 66 87
125k 25 45 87 128 169
50k 56 107 210 314 417
20k 133 262 520 778 1036
10k 262 520 1036 1552 2068
Time = (No of bit) x (No of Drive unit) x(No. of PDO) / (baud rate) / (margin)+delay+@
Ex. 1Mbps, 1TPDO, 1RPDO, 80%, 3.5ms delay
Time = 129bit x 64unit x 2PDO / (1e6) / (80%/100) +3.5ms+@
=25ms

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3. Parameters
3.1. Command and Freq. Reference setting
Set up the inverter parameters as follows when command via CiA 402 profile. From CANopen network, the
drive parameters can be commanded directory. The latest commanded parameters are activated when
same run command / frequency reference command.
Refer to the below table and the figurer and the capture “2.5 Command & Setpoint selection
(Local/Remote)”.
P No. Parameter function Default
Value Note
cmod Command mode selection 1 3: CANopen communication
fmod Frequency setting mode
selection 1 0 6: CANopen communication
cmod
Control terminal.
Oper ati on pane l.
Serial Comm. (FA00)
0
1
2
3
4
CANopen
Network option
CiA 402
State machine
Network option (FA06)
CANopen®(FA04)
6040
RS485
communication
Figure 1 Command source
fmod
0
･
･
4
5
6
7
CANopen
N etw or k op tio n
FA 01( Hz)
FA13(min
-
1
)
FA 05( Hz)
6042
(
min-
1
)
FA 07( Hz)
C906(min-
1
)
RS485
communication
Figure 2 Frequency reference command source

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3.2. Communication parameters
P No. Parameter function Default
Value Note
f856 Number of motor poles for
communication 2 2: 4 pole
f898 Inverter reset mode selection 0
0: Terminal board, Panel keypad or FA00
reset command rests the drive.
CANopen (CiA 402, FA04) and COM
option (CiA 402, FA06) reset command
only reset fault condition.
1: All reset command reset the drive.
2: -
f899 Communication function reset 0 0: -
1: Reset (after execution: 0)
P No. Parameter function Default
Value Note
c100 Communication time out 0.0 0.0 to 100.0 sec
c101
Inverter operation at the
communications loss action
(Guard Time, Heartbeat)
4
0: Stop and Communication release
(follows cmod and fmod setting)
(Do not set at Software is Ver. 1.00.)
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 0: None
1 to 15:Preset speed
c103 Communication time-out condition
selection 1
0:Disconnection detection
1:When communication mode enable (Both
cmod and fmod are set CANopen or
COM option)
2:1+Driving operation
c70
1 Node ID 0 0 : Disable CANopen
1 ~ 127 : Node ID
c70
2
Baud rate
0: 20k 4: 500k
1: 50k 5: 800k
2: 125k 6: 1M
3: 250k
2
(125kbps)
CAN communication baud rate
c70
3 SYNC message COB-ID 0x0080 #1005 Set Lower word
c70
4 Guard Time: 0 #100C 1ms unit
c70
5 Life Time Factor: 0 #100D from 0 to 255
c70
6 Node-ID of Heartbeat Producer 0x0000
#1016
Bits 16-23 = Node-ID of Heartbeat Producer
Bits 24-31 = Reserved (00)
c70
7
Max. duration of Consumer
Heartbeat 0x0000
#1016
Bits 00-15 = Max. duration of Consumer
Heartbeat (unit = 1 ms)
Note: A single Heartbeat Producer can be
configured here. By default, no producers
are monitored (value = 0).
c70
8 Producer Heartbeat Time: 0 #1017 1ms unit

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c71
1 PDO1 Receive: COB-ID entry
High word 0x00000200
#1400 subidx 01
If the setting is default setting, COB-ID is
below value.
COB-ID=0x00000200+Node-
c71
2 Low word
c71
3 RPDO transmission type 0x0FF #1400 subidx 02 Asynchronous
c71
4 Transmit :COB-ID
High word 0x00000180
#1800 subidx 01
If the setting is default setting, COB-ID is
below value.
COB-ID=0x00000180+Node-ID
c71
5 Low word
c71
6 TPDO Transition type 0x0FF #1800 subidx 02 Asynchronous
c71
7 Transmit Inhibit time: 100 #1800 subidx 03 unit=100us, min 2ms
--- Transmit Reserved --- #1800 subidx 04
c71
9 Transmit Event timer: 0 #1800 subidx 05 unit=1ms, min 10ms
c72
1 PDO2 Receive: COB-ID entry
High word 0x80000300
#1401 subidx 01
If the setting except bit31 is 0x00000300,
use the default setting except bit31
0x00000300+Node-ID for #1401 subidx 01.
c72
2 Low word
c72
3 RPDO transmission type 0x0FF #1401 subidx 02 Asynchronous
c72
4 Transmit :COB-ID
High word 0x80000280
#1801 subidx 01
If the setting except bit31 is 0x00000280,
use the default setting except bit31
0x00000280+Node-ID for #1801 subidx 01.
c72
5 Low word
c72
6 TPDO Transition type 0x0FF #1801 subidx 02 Asynchronous
c72
7 Transmit Inhibit time: 100 #1801 subidx 03 unit=100us, min 2ms
--- Transmit Reserved --- #1801 subidx 04
c72
9 Transmit Event timer: 0 #1801 subidx 05 unit=1ms, min 10ms
c73
1 PDO3 Receive: COB-ID entry
High word 0x80000400
#1402 subidx 01
If the setting except bit31 is 0x00000400,
use the default setting except bit31
0x00000400+Node-ID for #1402 subidx 01.
c73
2 Low word
c73
3 RPDO transmission type 0x0FF #1402 subidx 02 Asynchronous
c73
4 Transmit :COB-ID
High word 0x80000380
#1802 subidx 01
If the setting except bit31 is 0x00000380,
use the default setting except bit31
0x00000380+Node-ID for #1802 subidx 01.
c73
5 Low word
c73
6 TPDO Transition type 0x0FF #1802 subidx 02 Asynchronous
c73
7 Transmit Inhibit time: 100 #1802 subidx 03 unit=100us, min 2ms
--- Transmit Reserved --- #1802 subidx 04
c73
9 Transmit Event timer: 0 #1802 subidx 05 unit=1ms, min 10ms
c74
1 PDO21 Receive: COB-ID entry
High word 0x80000500
#1414 subidx 01
If the setting except bit31 is 0x00000500, use
the default setting except bit31
0x00000500+Node-ID for #1414 subidx 01.
c74
2 Low word
c74
3 RPDO transmission type 0x0FF #1414 subidx 02 Asynchronous
c74
4 Transmit :COB-ID
High word 0x80000480
#1814 subidx 01
If the setting except bit31 is 0x00000480, use
the default setting except bit31
0x00000480+Node-ID for #1814 subidx 01.
c74
5 Low word
c74
6 TPDO Transition type 0x0FF #1814 subidx 02 Asynchronous
c74
7 Transmit Inhibit time: 100 #1814 subidx 03 unit=100us, min 2ms
--- Transmit Reserved --- #1814 subidx 04

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c74
9 Transmit Event timer: 0 #1814 subidx 05 unit=1ms, min 10ms
P No. Parameter function Default
Value Note
c750 PDO1 Number of command
objects 0x02 #1600 subidx 00 Receive PDO1
assignment: Number of objects assigned
c75
1 Command 1 0x6040
#1600 subidx 01 Command Index No.
0x6040: Controlword
c75
2 Command 2 0x6042
#1600 subidx 02 Command Index No.
0x6042: vl target velocity
c75
3 Command 3 0x0000
#1600 subidx 03 Command Index No.
c75
4 Command 4 0x0000
#1600 subidx 04 Command Index No.
c75
5 Number of monitor objects 0x02 #1A00 subidx 00 Transmit PDO1
assignment: Number of objects assigned
c75
6 Monitor 1 0x6041
#1A00 subidx 01 Monitor Index No.
0x6041: vl Statusword
c75
7 Monitor 2 0x6044
#1A00 subidx 02 Monitor Index No.
0x6044: vl velocity actual value
c75
8 Monitor 3 0x0000
#1A00 subidx 03 Monitor Index No.
c75
9 Monitor 4 0x0000
#1A00 subidx 04 Monitor Index No.
c76
0 PDO2 Number of command
objects 0x01 #1601 subidx 00 Receive PDO2
assignment: Number of objects assigned
c76
1 Command 1 0x6040
#1601 subidx 01 Command Index No.
c76
2 Command 2 0x0000 #1601 subidx 02 Command Index No.
c76
3 Command 3 0x0000 #1601 subidx 03 Command Index No.
c76
4 Command 4 0x0000 #1601 subidx 04 Command Index No.
c76
5 Number of monitor objects 0x01 #1A01 subidx 00 Transmit PDO2
assignment: Number of objects assigned
c76
6 Monitor 1 0x6041
#1A01 subidx 01 Monitor Index No.
c76
7 Monitor 2 0x0000
#1A01 subidx 02 Monitor Index No.
c76
8 Monitor 3 0x0000
#1A01 subidx 03 Monitor Index No.
c76
9 Monitor 4 0x0000
#1A01 subidx 04 Monitor Index No.

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c77
0 PDO3 Number of command
objects 0x01 #1602 subidx 00 Receive PDO3
assignment: Number of objects assigned
c77
1 Command 1 0x6040 #1602 subidx 01 Command Index No.
c77
2 Command 2 0x0000 #1602 subidx 02 Command Index No.
c77
3 Command 3 0x0000 #1602 subidx 03 Command Index No.
c77
4 Command 4 0x0000 #1602 subidx 04 Command Index No.
c77
5 Number of monitor objects 0x01 #1A02 subidx 00 Transmit PDO3
assignment: Number of objects assigned
c77
6 Monitor 1 0x6041 #1A02 subidx 01 Monitor Index No.
c77
7 Monitor 2 0x0000 #1A02 subidx 02 Monitor Index No.
c77
8 Monitor 3 0x0000 #1A02 subidx 03 Monitor Index No.
c77
9 Monitor 4 0x0000 #1A02 subidx 04 Monitor Index No.
c78
0 PDO21 Number of command
objects 0x01 #1614 subidx 00 Receive PDO21
assignment: Number of objects assigned
c78
1 Command 1 0x6040 #1614 subidx 01 Command Index No.
c78
2 Command 2 0x0000 #1614 subidx 02 Command Index No.
c78
3 Command 3 0x0000 #1614 subidx 03 Command Index No.
c78
4 Command 4 0x0000 #1614 subidx 04 Command Index No.
c78
5 Number of monitor objects 0x01 #1A14 subidx 00 Transmit PDO21
assignment: Number of objects assigned
c78
6 Monitor 1 0x6041 #1A14 subidx 01 Monitor Index No.
c78
7 Monitor 2 0x0000 #1A14 subidx 02 Monitor Index No.
c78
8 Monitor 3 0x0000 #1A14 subidx 03 Monitor Index No.
c78
9 Monitor 4 0x0000 #1A14 subidx 04 Monitor Index No.
Warning
Mandatory
action
Set up “Communication error trip function (c100 ~ c103)” to stop the inverter when
CANopen communication is deactivated.
When CANopen state is “OPERATIONAL”, the CANopen communication parameters
can not be changed. Set the CANopen state to “PRE-OPERATIONAL.”
When the parameters are changed, the power must be cycled to the VF-MB1 for the
changes to take effect.

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4. Communication Object
Object Dictionary has mainly 3 object set.
･Communication Profile Area (Index 1000 to 1FFFh)
･Manufacturer Specific Profile Area (Index 2000 to 5FFFh)
･Standard Device Profile Area (Index 6000 to 9FFFh)
4.1. Communication Profile (DS 301)
4.1.1. Communication Profile (1000 to 11FFh)
These object are CANopen communication configuration settings for example Node-ID etc.. These
communication profile object can not be mapped into PDO.
Index
(Hex)
Sub
index Access Type Default value Description
1000 00 RO u32 0x00010192
Device type
Bits 24-31 not used (0), Bits 16-23 = Type of device (1)
Bits 0-15 = Device profile number (402)
1001 00 RO u8 0x00
Error register : Error (= 1) or no error (= 0)
Bit0: Generic Bit4: Communication
Bit1: Current Bit5: Device profile specific
Bit2: Voltage Bit6: reserved(=0)
Bit3: Temperature Bit7: Manufacturer specific
1003
00 RO u8 0x01 Number of errors: Only one possible error (1), located in
object #1003 sub 01
01 RO u32 0x00000000
Standard error field:
Bits 16-31 = Additional information (always 0)
Bits 00-15 = Error code parameter
1005 00 R/W u32 0x00000080
COB-ID entry for SYNC message
Bit 30=0: Device does not generate SYNC message. (Fixed)
Bit 29=0: 11bit CAN-ID valid. (Fixed)
Bit 0-10: 11bit SYNC COB-ID
1008 00 RO string VF-MB1 Manufacturer device name
100A 00 RO string 1.00
Manufacturer software version
Application software version
VF-MB1: parameter fe08
100C 00 R/W u16 0x0000
Guard Time:
By default, the Node Guarding protocol is deactivated (0); the
unit for this object is 1 ms.
If use this protocol (Guard Time > 0), make sure that the
Heartbeat protocol is deactivated on the drive
(Object 1017: Producer Heartbeat Time > 0).
When not receive the Remote frame message in term of this,
the drive generate the Network disconnect error.
100D 00 R/W u8 0x00
Life Time Factor:
Multiplier coefficient applied to the Guard Time to obtain the
Life Time.
The value 0 deactivates the Node Guarding service in respect
of the drive.

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1010
00 RO u8 0x01 Save all parameter – Number of entries
01 R/W U32 0x00000003
Save all parameter:
Set ‘e’,’v’,’a’,’s’ (0x65, 0x76, 0x61, 0x73) to this sub-index,
from c700 to c789 and Object 60xx parameters data
are store to EEPROM.
1011
00 RO u8 0x01 Restore default parameter – Number of entries
01 R/W U32 0x00000001
Restore default parameter:
Set ‘d’,’a’,’o’,’l’ (0x64, 0x61, 0x6f, 0x6c) to this sub-index, from
c703 to c789 and Object 60xx parameters data are
restore to factory setting data. Restore data are available after
power On/Off reset or Rest command from Network.
1014 00 RO u32
0x00000080
+Node-ID
COB-ID Emergency message: (EMCY)
Bit 31=0: EMCY exist / is valid.
Bit 30 : Reserved
Bit 29=0 : frame is 11bit-CAN-ID valid = 1
bit 0-10: 11bit CAN-ID of the CAN base frame.
1016
00 RO u8 0x01 Consumer Heartbeat Time – Number of entries
01 R/W u32 0x00000000
Bits 24-31 = Resaved (00)
Bits 16-23 = Node-ID of Heartbeat Producer
Bits 00-15 = Max. duration of Consumer Heartbeat (unit = 1
ms)
Note: A single Heartbeat Producer can be configured here. By
default, no producers are monitored (value = 0).
When not receive the Heartbeat message in term of this, the
drive generate the Network disconnect error.
1017 00 R/W u16 0x0000
Producer Heartbeat Time:
Heartbeat messages; the unit of this object is 1 ms.
If you use this protocol (Producer Heartbeat Time > 0), make
sure that the Node Guarding protocol is deactivated on the
drive (Guard Time = 0).
1018
00 RO u8 0x01 ID object: Number of objects
01 RO u32 0x00000284 ID object: Supplier ID
0x00000284 : Toshiba Schneider Inverter Co.
4.1.2. SDO sever object
SDO COB-ID object type is only read.
Index
(Hex)
Sub
index Access Type Default value Description
1200
00 RO u8 0x02 Server SDO : Number of entries
01 RO u32
0x00000600
+ Node-ID Server SDO : COB-ID Client -> Drive (receive)
02 RO u32
0x00000580
+ Node-ID Server SDO : COB-ID Client <- Drive (transmit)

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4.1.3. PDO object
PDO1 to PDO3 and PDO21.
PDO set RPDO TPDO Note
PDO1
Controlword Statusword
COB-ID is variable mapping.
TPDO1 : 0x00000180+Node-ID
RPDO2 : 0x00000200+Node-ID
vl_target_velocity vl_velocity_actual_value
variable mapping variable mapping
variable mapping variable mapping
PDO2
variable mapping variable mapping
COB-ID is variable mapping.
TPDO2 : 0x00000280+Node-ID
RPDO2 : 0x00000300+Node-ID
variable mapping variable mapping
variable mapping variable mapping
variable mapping variable mapping
PDO3
variable mapping variable mapping
COB-ID is variable mapping.
TPDO3 : 0x00000380+Node-ID
RPDO3 : 0x00000400+Node-ID
variable mapping variable mapping
variable mapping variable mapping
variable mapping variable mapping
PDO21
variable mapping variable mapping
COB-ID is variable mapping.
TPDO21 : 0x00000480+Node-ID
RPDO21 : 0x00000500+Node-ID
variable mapping variable mapping
variable mapping variable mapping
variable mapping variable mapping
4.1.4. RPDO object
Index
(Hex)
Sub
index Access Type Default value Description
1400
00 R u8 0x02 Receive PDO1: Number of objects
01 R/W u32
0x00000200
+ Node-ID
Receive PDO1: COB-ID entry
The default value is 0x00000200 (parameter data
c711)+Node-ID. If set other than 0x00000200 except bit31,
new set data is used for COB-ID(=new data).
Bit31 is an enable/disable flag of RPDO1 data set.
02 R u8 0x0FF
Receive PDO1: Transmission type
“asynchronous” (254 or 255), “synchronous” (0 - 240).
1401
00 R u8 0x02 Receive PDO2: Number of objects
01 R/W u32
0x80000300
+ Node-ID
Receive PDO2 COB-ID entry
The default value is 0x80000300 (parameter data c721)
+Node-ID. If set other than 0x80000300 except bit31, new set
data is used for COB-ID(=new data).
Bit31 is an enable/disable flag of RPDO2 data set.
02 R/W u8 0x0FF Receive PDO2: Transmission type
“asynchronous” (254 or 255), “synchronous” (0 -240).
1402
00 R u8 0x02 Receive PDO3: Number of objects
01 R/W u32
0x80000400+
Node-ID
Receive PDO3 COB-ID entry
The default value is 0x00000400 (parameter data c731)
+Node-ID. If set other than 0x80000400 except bit31, new set
data is used for COB-ID(=new data).
Bit31 is an enable/disable flag of RPDO3 data set.
02 R/W u8 0x0FF Receive PDO3: Transmission type
“asynchronous” (254 or 255), “cyclic synchronous” (0 -240).

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1414
00 R u8 0x02 Receive PDO21: Number of objects
01 R/W u32
0x80000500
+ Node-ID
Receive PDO21 COB-ID entry
The default value is 0x80000500 (parameter data c741)
+Node-ID. If set other than 0x80000500 except bit31, new set
data is used for COB-ID(=new data).
Bit31 is an enable/disable flag of RPDO21 data set.
02 R/W u8 0x0FF Receive PDO21: Transmission type
“asynchronous” (254 or 255), “synchronous” (0 -240).
1600
00 R/W u8 0x02
Receive PDO1 assignment: Number of objects assigned
Set 0(=Disable) before changing Sub-index 01-04 of this
Object, and set Sub-index 01-04 values of the corresponding
sub-indices then set the number of mapped objects (=Enable).
01 R/W u32 0x60400010 Receive PDO1 assignment: 1st object assigned
Control word “CMD” (Object 6040, Sub-index 00, 16bit)
02 R/W u32 0x60420010 Receive PDO1 assignment: 2nd object assigned
vl target velocity (Object 6042, Sub-index 00, 16bit)
03 R/W u32 0x00000000 Receive PDO1 assignment: 3rd object assigned
04 R/W u32 0x00000000 Receive PDO1 assignment: 4th object assigned
1601
00 R/W u8 0x01 Receive PDO2 assignment: Number of objects assigned
01 R/W u32 0x60400010 Receive PDO2 assignment: 1st object assigned
02 R/W u32 0x00000000 Receive PDO2assignment: 2nd object assigned
03 R/W u32 0x00000000 Receive PDO2 assignment: 3rd object assigned
04 R/W u32 0x00000000 Receive PDO2 assignment: 4th object assigned
1602
00 R/W u8 0x01 Receive PDO3 assignment: Number of objects assigned
01 R/W u32 0x60400010 Receive PDO3 assignment: 1st object assigned
02 R/W u32 0x00000000 Receive PDO3assignment: 2nd object assigned
03 R/W u32 0x00000000 Receive PDO3 assignment: 3rd object assigned
04 R/W u32 0x00000000 Receive PDO3 assignment: 4th object assigned
1614
00 R/W u8 0x01 Receive PDO21 assignment: Number of objects assigned
01 R/W u32 0x60400010 Receive PDO21 assignment: 1st object assigned
02 R/W u32 0x00000000 Receive PDO21assignment: 2nd object assigned
03 R/W u32 0x00000000 Receive PDO21 assignment: 3rd object assigned
04 R/W u32 0x00000000 Receive PDO21 assignment: 4th object assigned

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4.1.5. TPDO object
Index
(Hex)
Sub
index Access Type Default value Description
1800
00 R u8 0x05 Transmit PDO1: Number of entries
01 R/W u32
0x00000180
+ Node-ID
Transmit PDO1: COB-ID
The default value is 0x00000180 (parameter data c713)
+Node-ID. If set other than 0x00000180 except bit31, new
set data is used for COB-ID(=new data).
Bit31 is an enable/disable flag of TPDO1 data set.
02 R/W u8 0x0FF Transmit PDO1: Transmission type:
“asynchronous” (254 or 255), “cyclic synchronous” (0~240).
03 R/W u16 0x001E
Transmit PDO1: Inhibit time: unit = 100us
Minimum time between two transmissions
04 R/W u8 0x00 Transmit PDO1: Reserved
05 R/W u16 0x0064
Transmit PDO1: Event timer: 0=Disable, unit = 1 ms
When Transmission type=254 or 255, this object defines a
transmission frequency for this PDO.
1801
00 R u8 0x05 Transmit PDO2: Number of entries
01 R/W u32
0x80000280
+ Node-ID
Transmit PDO2: COB-ID
The default value is 0x80000280 (parameter data c723)
+Node-ID. If set other than 0x80000280 except bit31, new
set data is used for COB-ID(=new data).
Bit31 is an enable/disable flag of TPDO2 data set.
02 R/W u8 0x0FF Transmit PDO2 : Transmission type:
“asynchronous” (254 or 255), “cyclic synchronous” (0~240).
03 R/W u16 0x001E
Transmit PDO2: Inhibit time: unit = 100us
Minimum time between two transmissions
04 R/W u8 0x00 Transmit PDO2: Reserved
05 R/W u16 0x0064
Transmit PDO2: Event timer: 0=Disable, unit = 1 ms
When Transmission type=254 or 255, this object defines a
transmission frequency for this PDO.
1802
00 R u8 0x05 Transmit PDO3: Number of entries
01 R/W u32
0x80000380
+ Node-ID
Transmit PDO3: COB-ID
The default value is 0x80000380 (parameter data c733)
+Node-ID. If set other than 0x80000380 except bit31, new
set data is used for COB-ID(=new data).
Bit31 is an enable/disable flag of TPDO3 data set.
02 R/W u8 0x0FF Transmit PDO3: Transmission type:
“asynchronous” (254 or 255), “cyclic synchronous” (0~240).
03 R/W u16 0x001E
Transmit PDO3: Inhibit time: unit = 100us
Minimum time between two transmissions
04 R/W u8 0x00 Transmit PDO3: Reserved
05 R/W u16 0x0064
Transmit PDO3: Event timer: 0=Disable, unit = 1 ms
When Transmission type=254 or 255, this object defines a
transmission frequency for this PDO.
1814
00 R u8 0x05 Transmit PDO21: Number of entries
01 R/W u32
0x80000480
+ Node-ID
Transmit PDO21: COB-ID
The default value is 0x80000480 (parameter data c743)
+Node-ID. If set other than 0x80000480 except bit31, new
set data is used for COB-ID(=new data).
Bit31 is an enable/disable flag of TPDO21 data set.
02 R/W u8 0x0FF Transmit PDO21: Transmission type:
“asynchronous” (254 or 255), “cyclic synchronous” (0~240).
03 R/W u16 0x001E
Transmit PDO21: Inhibit time: unit = 100us
Minimum time between two transmissions
04 R/W u8 0x00 Transmit PDO21: Reserved
05 R/W u16 0x0064
Transmit PDO21: Event timer: 0=Disable, unit = 1 ms
When Transmission type=254 or 255, this object defines a
transmission frequency for this PDO.