Fuji Electric FRENIC-Ace series - Procedures to Establish Canopen Communication

9.2 CANopen Communication
9-15
COMMUNICATION FUNCTIONS
Chap 9
9.2.4 Procedures to establish CANopen communication
This chapter describes the procedures to connect the CANopen communication between the master and inverter.
The procedure is as follows (steps 1 to 5).
1. Set the CANopen master
2. Set the node ID and baud rate of inverter by specifying the inverter function codes.
3. Restart the inverter and put the inverter in a pre-operational state
4. Set the object for detecting disconnection (Heartbeat or Node Guarding)
5. Transmit the Start Remote Node command from the master to the inverter to put the inverter in an operational
state
Steps 1 to 5 are described below in detail.
1. Set the CANopen master
• Set the node ID and baud rate of the master.
• Use the inverter’s EDS file to register it in the master (for the CANopen communication).

For information about how to set the CANopen master, refer to the master’s user’s manual.
The EDS file is not delivered with the inverter.
Download the EDS file from the following Web site. (required to subscribe (charge
-free))
URL:
http://www.fujielectric.com/products/#/tab2/tab1
2. Set the node ID and baud rate of inverter by specifying the inverter function codes.
• Set the node ID with y21 / o31 and the baud rate with y24 / o32. Set the same values as those configured in
the master.
• If necessary, set the inverter function codes y34 / o27, y35 / o28.

For more information on y34 /o27 and y35 / o28, refer to “9.2.12 Behavior upon detection of CANopen
network disconnection”.
3. Restart the inverter and put the inverter in a pre-operational state
If the settings of the CANopen master and inverter are correct and the wiring is properly done, the inverter
automatically enters into pre-operational state, enabling to communicate with the master.
In this state, RUN LED blinks in green and ERR LED turns off or blinks in red in the optional communication
card (OPC-E2-COP).
In the case of the built-in CANopen, check the condition with LED drive monitor “
3_40 ”.

For information about status monitor, refer to “9.2.15 Keypad LED operation monitor “ 3_40 ””.
4. Set the object for detecting disconnection (Heartbeat or Node Guarding)
In order to detect the disconnection, set Heartbeat or Node Guarding in both master and inverter.

For information about Heartbeat or Node Guarding, refer to “9.2.11 Heartbeat and Node Guarding”.
The object for detecting disconnection in the CANopen device is invalid by default. Unless the setting
is enabled, the CANopen network including
inverter
cannot detect a disconnection even if the
disconnection occurs. We strongly recommend to enable the setting.
5. Transmit the Start Remote Node command from the master to inverter to put the inverter in an operational state
After receiving this command, the inverter enters the operational state. This enables the master to control and
monitor the inverter real time through the PDO communication.

For information about the format of PDO communication, refer to “9.2.5 PDO protocol”.