Toshiba TOSVERT VF-S15 series User manual

E6581911④
TOSVERT VF-S15 / VF-AS3 series
CANopen®
Communication Function Manual
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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Introduction
Thank you for purchasing TOSVERT VF-S15 / VF-AS3 series.
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-S15 Instruction Manual ･･･････････････････････････････････ E6581611
･TOSVERT VF-S15 Communications Function Instruction Manual ･･･････････ E6581913
･VF-S15 Option Adapter Instruction Manual ･･････････････････････････････････････ E6581838
･TOSVERT VF-AS3 Instruction Manual ･･･････････････････････････････････ E6582062
･TOSVERT VF-AS3 Communications Function Instruction Manual ･･･････････ E6582143
* 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 drive 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
Warning
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.
Do not use application of writing into same parameter more than 100,000 times. The Life
of EEPROM is approximately 100,000 times. Do not write to the user parameter area of
inverter by SDO to avoid EEPROM broken. See "5.2.Manufacturer specific profile" in
detail.
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 drive 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 “7.4 Communication disconnection detection function”for details)
Deactivated the drive 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 drive’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.

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Table of Contents
1. Scope................................................................................................................................................. 4
1.1. Overview.................................................................................................................................... 4
1.2. Applicable model....................................................................................................................... 4
1.3. EDS file...................................................................................................................................... 4
2. Hardware Setup................................................................................................................................. 5
2.1. Mounting and removing............................................................................................................. 5
2.1.1. Mounting/removing insert type option of VF-S15.............................................................. 5
2.1.2. Mounting/removing insert type option of VF-AS3 ............................................................. 7
3. LED information ................................................................................................................................. 8
3.1. VF-S15 LED location................................................................................................................. 8
3.2. VF-AS3 LED location................................................................................................................. 8
3.3. LED indicator (CiA303-3)........................................................................................................... 9
3.4. CAN LED indicator .................................................................................................................... 9
3.5. Command & Setpoint selection (Local/Remote) ..................................................................... 10
3.6. Cable Specification.................................................................................................................. 11
3.7. Network configuration.............................................................................................................. 11
3.8. Bus cable length (CiA303-1).................................................................................................... 12
3.9. Example of SCAN time............................................................................................................ 13
4. Parameters ...................................................................................................................................... 14
4.1. Command and Freq. Reference setting.................................................................................. 14
4.2. Communication parameters.................................................................................................... 16
5. Communication Object..................................................................................................................... 19
5.1. Communication Profile (DS 301)............................................................................................. 19
5.1.1. Communication Profile (0x1000 to 0x1018) ................................................................... 19
5.1.2. SDO sever object............................................................................................................ 20
5.1.3. PDO object ..................................................................................................................... 21
5.1.4. RPDO object................................................................................................................... 21
5.1.5. TPDO object................................................................................................................... 23
5.2. Manufacturer specific profile ................................................................................................... 24
5.3. Device Profile (CiA402)........................................................................................................... 25
6. Running by CiA402 drive profile....................................................................................................... 26
6.1. CiA402 drive profile................................................................................................................. 26
6.1.1. Object 0x603F: Error Code............................................................................................. 27
6.1.2. Object 0x6040: Controlword........................................................................................... 29
6.1.3. Object 0x6041: Statusword............................................................................................. 31
6.1.4. Object 0x6042: vl_target_velocity................................................................................... 31
6.1.5. Object 0x6043: vl_velocity_demand............................................................................... 31
6.1.6. Object 0x6044: vl_velocity_actual_value........................................................................ 31
6.1.7. Object 0x6046: vl_velocity_min_max_amount ............................................................... 32
6.1.8. Object 0x6048: vl_velocity_acceleration......................................................................... 32
6.1.9. Object 0x6049: vl_velocity_deceleration ........................................................................ 32
6.1.10. Object 0x604A: vl_velocity_quick_stop .......................................................................... 32
6.1.11. Object 0x605A: Quick stop option code ......................................................................... 33
6.1.12. Object 0x6060: Modes of operation................................................................................ 33
6.1.13. Object 0x6061: Modes of operation display.................................................................... 33
6.1.14. Object 0x6502: Supported drive mode........................................................................... 33
7. Control from CANopen Network ...................................................................................................... 34
7.1. NMT state machine................................................................................................................. 34
7.2. SDO communication ............................................................................................................... 34
7.2.1. Read object (Upload object)........................................................................................... 35
7.2.2. Write object (Download object)....................................................................................... 35
7.2.3. Abort code ...................................................................................................................... 36
7.3. PDO communication ............................................................................................................... 37
7.3.1. TxPDO and RxPDO communication type....................................................................... 37
7.3.2. RTR (Remote Transfer Request) communication.......................................................... 38

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7.3.3. SYNC communication .................................................................................................... 38
7.3.4. Emergency object........................................................................................................... 38
7.4. Communication disconnection detection function................................................................... 39
7.4.1. Heartbeat Consumer ...................................................................................................... 39
7.4.2. Heartbeat producer......................................................................................................... 39
7.4.3. Node Guarding ............................................................................................................... 40
7.4.4. NMT Boot-up .................................................................................................................. 40
8. Example communication.................................................................................................................. 41
8.1. ASYNC communication........................................................................................................... 41
8.2. SYNC communication............................................................................................................. 43
9. Specifications................................................................................................................................... 46
9.1. Data and operating specification............................................................................................. 46
9.2. CANopen device specification................................................................................................. 46
9.3. Connecting of CANopen communication option...................................................................... 47

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1. Scope
1.1. Overview
Thank you for purchasing TOSVERT VF-S15 / VF-AS3. These drives can connect with open field network
CANopen and the communication supports up to 64 nodes in 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-S15 / VF-AS3”, so please use it for future maintenance
and inspection.
1.2. Applicable model
If VF-AS3 is used, it needs CPU1 version is 112 or more.
Communication option
Applicable model
CAN001Z
CAN002Z
CAN003Z
VF-S15
VF-AS3 (CPU1 version is 112 or more)
1.3. EDS file
When CAN001Z/CAN002Z/CAN003Z is used, please use following EDS (Electronic data sheet) file for
VF-S15/VF-AS3. Please contact your Toshiba distributor.
.
EDS file
Applicable model
VF-S15_CANopen.eds
VF-S15
VF-AS3_CANopen.eds
VF-AS3 (CPU1 version is 112 or more)
Type form
CAN001Z
Connector
2×RJ45
Type form
CAN002Z
Connector
9pin D-sub
Type form
CAN003Z
Connector
5 pin open type

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2. Hardware Setup
When using this product with VF-S15, the optional adapter (SBP009Z) is required.
2.1. Mounting and removing
2.1.1. Mounting/removing insert type option of VF-S15
Refer to [Optional external devices] of E6581611.
Warning
Mandatory
action
▼Mounting/removing option should be performed 15 minutes or more after the power is
shout off, and checking the charge lamp of the drive is OFF. The drive and option may
be damaged.
▼Do not use tools for mounting/removing option . The drive and option may be damaged.
2.1.1.1. Mounting of option
1. Insert option into option adapter.
*Note: Mount option adapter to drive after option insertion.
Insert the option straightly and slowly along the guide inside option adapter. Otherwise, the connecter can
become damaged.
2. Remove the option connector 3. Lock the control terminal cover.
cover on control terminal cover.
SBP009Z

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4. Hang the hook of option adapter on the control terminal cover.
Insert the connector in the direction of arrow
2.1.1.2. Earth wire wiring
2.1.1.3. Removing of option
1. Remove the connector in the direction of arrow while pushing the release tab.
2. Remove an option in the direction of arrow ②while pushing the release tab in the direction of arrow ①.
Connect attached grounding wire to grounding terminal of drive.
Grounding terminal of drive
Grounding terminal of option adapter
Recommended tightening torque: 0.5N m
Release tab
Release tab
Hook
①
②

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2.1.2. Mounting/removing insert type option of VF-AS3
Refer to [Mounting/removing insert type options] of E6582062.
Warning
Mandatory
action
▼Mounting/removing option should be performed 15 minutes or more after the power is
shout off, and checking the charge lamp of the drive is OFF. The drive and option may
be damaged.
2.1.2.1. Mounting of option
Insert option to the option slot A until you hear a click sound.
2.1.2.2. Removing of option
While pressing the release tab down, pull the cassette option to remove from the option slot.
Option slot A
Option slot A

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3. LED information
3.1. VF-S15 LED location
3.2. VF-AS3 LED location
When the option is mounted to VF-AS3, please attach the LED label (RUN/ERR *1) for the option to lower
side of communication indicator of VF-AS3.
The LED label is included in danger label kit of VF-AS3.
RUN and ERR are displayed on communication indicator.
CANopen LED indicator
GREEN : CAN RUN
RED : CAN ERR
Refer to E6581838 about VF-S15
Option adapter (SBP009Z)
*1

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3.3. LED indicator (CiA303-3)
CAN LED indicate CANopen communication Status and Error condition.
3.4. CAN LED indicator
The flashing pattern of RUN LED depends on each state at the normal status. See the following table.
CAN RUN Status Green LED
CAN ERR Status Red 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
The flashing pattern of ERR LED depends on each state at the abnormal status. See the following table.
CAN RUN Status Green LED
CAN ERR Status Red 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
200ms
ON
OFF
ON
OFF
200ms
1s
ON
OFF
ON
OFF
200ms
1s
ON
OFF
ON
OFF
200ms
1s
ON
OFF
ON
OFF

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3.5. Command & Setpoint selection (Local/Remote)
CANopen communication command and setpoint (= Frequency) are activated on remote mode.
Drives have some switches to select the command and setpoint location. Following figure shows the
diagram. Refer to the drive instruction manual for the parameter in detail.
Example: VF-S15
Example: VF-AS3
Input Terminal Function
48(SCLC)
Forced local
from communication
cmod
Switch between Local and
Remote modes
by EASY key. (f750=2)
Prior com.
Operation
Panel
0
1
2
4
3
Terminal
Operation Panel
RS485
CANopen
Network option
ON
OFF
Loc
Rem
Command
fmod
Prior com.
Operation
Panel
0
2
:
6
Setting dial 1
Terminal VIA
terminal
Terminal VIB
terminal
:
ON
OFF
Loc
Rem
Frequency
CANopen
:
Input Terminal Function
108(CMTB)
Command mode
terminal block
Terminal
block
ON
OFF
f207
setting
Input Terminal Function
104(FCHG)
Frequency setting mode
forced switching
ON
OFF
1
Input Terminal Function
48(SCLC)
Forced local
from communication
cmod
Switch between Local and
Remote modes
by EASY key (f750=2)
or HAND/AUTO key.
Prior com.
Operation
Panel
0
1
2
3
5
Terminal
Operation Panel
Embedded Ethernet
RS485 (CN1)
RS485 (CN2)
ON
OFF
Loc
Rem
Command
fmod
Prior com.
Operation
Panel
0
2
:
-
Terminal RR
Terminal RX
:
ON
OFF
Loc
Rem
Frequency
Network option
( CANopen )
:
Input Terminal Function
108(CMTB)
Command mode
terminal block
Terminal
block
ON
OFF
f207
setting
Input Terminal Function
104(FCHG)
Frequency setting mode
forced switching
ON
OFF
1
4
Network option
( CANopen )
23

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3.6. Cable Specification
Recommended cable specification is below
AC parameters: 120 ohm impedance and 5ns/m specific line delay
Selected recommended cable is below.
Manufacture : JMACS Japan Co., Ltd.
www.jmacs-j.co.jp
Distributor : KOSHOW Co., Ltd
www.koshow.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.
3.7. Network configuration
Make up the network as follows.
- Transmission/reception signals (CAN_H, CAN_L)
Make up the communication path byconnecting 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_GND
Slave Node
CAN_H
CAN_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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3.8. Bus cable length (CiA303-1)
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
R
Slave
Lu
Slave
･･･
L

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3.9. 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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4. Parameters
4.1. Command and Freq. Reference setting
Set up the parameters as follows when command via CiA402 drive profile. From CANopen network, the
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 “3.5 Command & Setpoint selection (Local/Remote)”.
[VF-S15]
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
[VF-AS3]
P No.
Parameter function
Default
Value
Note
cmod
Run command select
0
5: Communication option (CANopen)
fmod
Frequency command select 1
1
23: Communication option (CANopen)
Example: VF-S15
cmod
Control terminal.
Operation panel.
RS485 com. (FA00)
0
1
2
3
4
CANopen
Network option
CiA 402
State machine
Network option (FA06)
CANopen (FA04)
6040
RS485
communication
Example: VF-AS3
cmod
Control terminal.
Operation panel.
Emb.Ethernet (FA37)
CANopen
CiA 402
State machine
Network option (FA06)
[ CANopen ]
6040
Emb.Ethernet
RS485 com. (FA00)
RS485 com.(CN1)
RS485 com.(CN2)
RS485 com. (FA04)
Network option
0
1
2
3
4
5
Figure 1 Command source

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Example: VF-S15
fmod
0
･
･
4
5
6
7
･
14
CANopen
Network option
FA01(Hz)
FA13(min-1)
FA05(Hz)
6042(min-1)
FA07(Hz)
C906(min-1)
RS485
communication
Example: VF-AS3
fmod
0
･
･
20
21
22
23
RS485 com.(CN1)
RS485 com.(CN2)
FA37(Hz)
FA41(min-1)
FA01(Hz)
FA13(min-1)
FA05(Hz)
FA19(min-1)
Embedded
Ethernet
Network option
FA07(Hz)
C906(min-1)
CAN open
FA07(Hz)
6042(min-1)
Figure 2 Frequency reference command source
.

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4.2. Communication parameters
Set up the parameters before the communication is started. The parameters with hatching are
communication profile. Normally, these parameters are downloaded by SDO sever object. Refer to
“5.1Communication Profile (DS 301)”.
Title
Parameter function
Default
Value
Note
f856
Number of motor poles for
communication
2
2: 4 pole
f898
Drive reset mode selection
0
0: Clear trip by request from
communication option. Reset by request
except from communication option.
1: All reset
2: Trip clear
3-5: - [VF-AS3]
f899
Communication function reset
0
0: -
1: Reset (after execution: 0)
Title
Parameter function
Default
Value
Note
c100
Communication time out
0.0
0.0 to 100.0 sec
c101
Drive 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
c701
Node ID
0
0: Disable CANopen
1 ~ 127 : Node ID
c702
Baud rate
0: 20k 4: 500k
1: 50k 5: 800k
2: 125k 6: 1M
3: 250k
2
(125kbps)
CAN communication baud rate
c703
SYNC message COB-ID
0x0080
0x1005 Set Lower word
c704
Guard Time:
0
0x100C 1ms unit
c705
Life Time Factor:
0
0x100D from 0 to 255
c706
Node-ID of Heartbeat Producer
0x0000
0x1016
Bits 16-23 = Node-ID of Heartbeat Producer
Bits 24-31 = Reserved (00)
c707
Max. duration of Consumer
Heartbeat
0x0000
0x1016
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).
c708
Producer Heartbeat Time:
0
0x1017 1ms unit

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Title
Parameter function
Default
Value
Note
c711
PDO1
Receive: COB-ID entry
High word
0x00000200
0x1400 subidx 01
If the setting is default setting, COB-ID is
below value.
COB-ID=0x00000200+Node-
c712
Low word
c713
RPDO transmission
type
0x0FF
0x1400 subidx 02 Asynchronous
c714
Transmit: COB-ID
High word
0x0000018
0
0x1800 subidx 01
If the setting is default setting, COB-ID is
below value.
COB-ID=0x00000180+Node-ID
c715
Low word
c716
TPDO Transition type
0x0FF
0x1800 subidx 02 Asynchronous
c717
Transmit Inhibit time:
100
0x1800 subidx 03 unit=100us, min 2ms
---
Transmit Reserved
---
0x1800 subidx 04
c719
Transmit Event timer:
0
0x1800 subidx 05 unit=1ms, min 10ms
c721
PDO2
Receive: COB-ID entry
High word
0x80000300
0x1401 subidx 01
If the setting except bit31 is 0x00000300, use
the default setting except bit31
0x00000300+Node-ID for 0x1401 subidx 01.
c722
Low word
c723
RPDO transmission
type
0x0FF
0x1401 subidx 02 Asynchronous
c724
Transmit: COB-ID
High word
0x80000280
0x1801 subidx 01
If the setting except bit31 is 0x00000280, use
the default setting except bit31
0x00000280+Node-ID for 0x1801 subidx 01.
c725
Low word
c726
TPDO Transition type
0x0FF
0x1801 subidx 02 Asynchronous
c727
Transmit Inhibit time:
100
0x1801 subidx 03 unit=100us, min 2ms
---
Transmit Reserved
---
0x1801 subidx 04
c729
Transmit Event timer:
0
0x1801 subidx 05 unit=1ms, min 10ms
c731
PDO3
Receive: COB-ID entry
High word
0x80000400
0x1402 subidx 01
If the setting except bit31 is 0x00000400, use
the default setting except bit31
0x00000400+Node-ID for 0x1402 subidx 01.
c732
Low word
c733
RPDO transmission
type
0x0FF
0x1402 subidx 02 Asynchronous
c734
Transmit: COB-ID
High word
0x80000380
0x1802 subidx 01
If the setting except bit31 is 0x00000380, use
the default setting except bit31
0x00000380+Node-ID for 0x1802 subidx 01.
c735
Low word
c736
TPDO Transition type
0x0FF
0x1802 subidx 02 Asynchronous
c737
Transmit Inhibit time:
100
0x1802 subidx 03 unit=100us, min 2ms
---
Transmit Reserved
---
0x1802 subidx 04
c739
Transmit Event timer:
0
0x1802 subidx 05 unit=1ms, min 10ms
c741
PDO21
Receive: COB-ID entry
High word
0x80000500
0x1414 subidx 01
If the setting except bit31 is 0x00000500, use the
default setting except bit31 0x00000500+Node-ID
for 0x1414 subidx 01.
c742
Low word
c743
RPDO transmission
type
0x0FF
0x1414 subidx 02 Asynchronous
c744
Transmit: COB-ID
High word
0x80000480
0x1814 subidx 01
If the setting except bit31 is 0x00000480, use the
default setting except bit31 0x00000480+Node-ID
for 0x1814 subidx 01.
c745
Low word
c746
TPDO Transition type
0x0FF
0x1814 subidx 02 Asynchronous
c747
Transmit Inhibit time:
100
0x1814 subidx 03 unit=100us, min 2ms
---
Transmit Reserved
---
0x1814 subidx 04
c749
Transmit Event timer:
0
0x1814 subidx 05 unit=1ms, min 10ms
c750
PDO1
Number of command
objects
0x02
0x1600 subidx 00 Receive PDO1
assignment: Number of objects assigned
c751
Command 1
0x6040
0x1600 subidx 01 Command Index No.
0x6040: Controlword

E6581911
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Title
Parameter function
Default
Value
Note
c752
Command 2
0x6042
0x1600 subidx 02 Command Index No.
0x6042: vl target velocity
c753
Command 3
0x0000
0x1600 subidx 03 Command Index No.
c754
Command 4
0x0000
0x1600 subidx 04 Command Index No.
c755
Number of monitor
objects
0x02
0x1A00 subidx 00 Transmit PDO1
assignment: Number of objects assigned
c756
Monitor 1
0x6041
0x1A00 subidx 01 Monitor Index No.
0x6041: vl Statusword
c757
Monitor 2
0x6044
0x1A00 subidx 02 Monitor Index No.
0x6044: vl velocity actual value
c758
Monitor 3
0x0000
0x1A00 subidx 03 Monitor Index No.
c759
Monitor 4
0x0000
0x1A00 subidx 04 Monitor Index No.
c760
PDO2
Number of command
objects
0x01
0x1601 subidx 00 Receive PDO2
assignment: Number of objects assigned
c761
Command 1
0x6040
0x1601 subidx 01 Command Index No.
c762
Command 2
0x0000
0x1601 subidx 02 Command Index No.
c763
Command 3
0x0000
0x1601 subidx 03 Command Index No.
c764
Command 4
0x0000
0x1601 subidx 04 Command Index No.
c765
Number of monitor
objects
0x01
0x1A01 subidx 00 Transmit PDO2
assignment: Number of objects assigned
c766
Monitor 1
0x6041
0x1A01 subidx 01 Monitor Index No.
c767
Monitor 2
0x0000
0x1A01 subidx 02 Monitor Index No.
c768
Monitor 3
0x0000
0x1A01 subidx 03 Monitor Index No.
c769
Monitor 4
0x0000
0x1A01 subidx 04 Monitor Index No.
c770
PDO3
Number of command
objects
0x01
0x1602 subidx 00 Receive PDO3
assignment: Number of objects assigned
c771
Command 1
0x6040
0x1602 subidx 01 Command Index No.
c772
Command 2
0x0000
0x1602 subidx 02 Command Index No.
c773
Command 3
0x0000
0x1602 subidx 03 Command Index No.
c774
Command 4
0x0000
0x1602 subidx 04 Command Index No.
c775
Number of monitor
objects
0x01
0x1A02 subidx 00 Transmit PDO3
assignment: Number of objects assigned
c776
Monitor 1
0x6041
0x1A02 subidx 01 Monitor Index No.
c777
Monitor 2
0x0000
0x1A02 subidx 02 Monitor Index No.
c778
Monitor 3
0x0000
0x1A02 subidx 03 Monitor Index No.
c779
Monitor 4
0x0000
0x1A02 subidx 04 Monitor Index No.
c780
PDO21
Number of command
objects
0x01
0x1614 subidx 00 Receive PDO21
assignment: Number of objects assigned
c781
Command 1
0x6040
0x1614 subidx 01 Command Index No.
c782
Command 2
0x0000
0x1614 subidx 02 Command Index No.
c783
Command 3
0x0000
0x1614 subidx 03 Command Index No.
c784
Command 4
0x0000
0x1614 subidx 04 Command Index No.
c785
Number of monitor
objects
0x01
0x1A14 subidx 00 Transmit PDO21
assignment: Number of objects assigned
c786
Monitor 1
0x6041
0x1A14 subidx 01 Monitor Index No.
c787
Monitor 2
0x0000
0x1A14 subidx 02 Monitor Index No.
c788
Monitor 3
0x0000
0x1A14 subidx 03 Monitor Index No.
c789
Monitor 4
0x0000
0x1A14 subidx 04 Monitor Index No.
Warning
Mandatory
action
Set up “Communication error trip function (c100 ~ c103)”to stop the drive 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 drive for the
changes to take effect.

E6581911
- 19 -
5. Communication Object
Object dictionary has mainly 3 object set.
･Communication profile area (Index 0x1000 to 0x1FFF)
･Manufacturer specific profile area (Index 0x2000 to 0x5FFF)
･CiA402 drive profile area (Index 0x6000 to 0x9FFF)
5.1. Communication Profile (DS 301)
5.1.1. Communication Profile (0x1000 to 0x1018)
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 0x1003 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-S15
(VF-AS3)
Manufacturer device name
Note) This information is different by the series of drive.
100A
00
RO
string
1.00
Manufacturer software version
Application software version
VF-S15: parameter fe08
100C
00
R/W
u16
0x0000
Guard Time:*1
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.
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 (except for 0x6060)
parameters data are store to EEPROM.