Table Of Contents - Toshiba TOSVERT VF-S15 Series Communication Function Manual

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 LED indicator .................................................................................................................... 5
2.4. Command & Setpoint selection (Local/Remote) ....................................................................... 6
2.5. Cable Specification ................................................................................................................... 6
2.6. Network configuration ............................................................................................................... 7
2.7. Bus cable length (CiA 303-1) .................................................................................................... 8
2.8. 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
6.4.3. Node Guarding ............................................................................................................... 35
6.4.4. NMT Boot-up .................................................................................................................. 36
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