Toshiba TOSVERT VF-MB1 Series

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”.

Toshiba TOSVERT VF-MB1 Series Specifications

General

Brand	Toshiba
Model	TOSVERT VF-MB1 Series
Category	Inverter
Language	English

Summary

Introduction

1. Scope

1.1. Overview

Overview of VF-MB1 inverter CANopen network capabilities and node support.

2. Names and functions of main parts

2.1. Name of main parts

Identifies main components and connectors of the CANopen communication option.

2.2. LED indicator (CiA 303-3)

2.3. CAN RUN LED indicator

Details the states and meanings of the CAN RUN LED.

2.4. CAN ERR LED indicator

Details the states and meanings of the CAN ERR LED.

2.5. Command & Setpoint selection (LocalRemote)

2.6. Cable Specification

Recommends specific cable types and specifications for CANopen communication.

2.7. Network configuration

2.8. Bus cable length (CIA 303-1)

Details how bus cable length varies with node count, cable type, and bit rate.

2.9. Example of SCAN time

3. Parameters

3.1. Command and Freq. Reference setting

Configuring inverter parameters for command and frequency reference using CANopen.

3.2. Communication parameters

4. Communication Object

4.1. Communication Profile (DS 301)

Configuration settings for CANopen communication, such as Node-ID.

4.1.2. SDO sever object

4.1.3. PDO object

4.1.4. RPDO object

Specifies the configuration objects for Receive PDO (RPDO) communication.

4.1.5. TPDO object

4.2. Manufacturer specific profile

Defines how inverter parameters are accessed as manufacturer-specific objects via CANopen.

4.3. Device Profile (CiA 402)

5. Drive profile

5.1. Velocity mode object

Describes the objects and relationships for velocity mode operation via CANopen.

5.1.1. Object 603 Fh: Error Code

5.1.2. Object 6040 h: Controlword

Explains the Controlword object (6040h) and its bit mapping for drive control.

5.1.3. Object 6041: Statusword

5.1.4. Object 6042: vltargetvelocity

Specifies the required target velocity for the system in RPM.

5.1.5. Object 6043 h: vlvelocitydemand

Provides the instantaneous velocity generated by the ramp function.

5.1.6. Object 6044: vlvelocityactualvalue

Indicates the actual velocity at the motor spindle or load.

5.1.7. Object 6046: vlvelocityminmaxamount

Velocity Mode Parameters

Details velocity limits, acceleration, deceleration, quick stop, and option codes.

5.1.12. Object 6060: Modes of operation

5.1.13. Object 6061: Modes of operation display

Provides the actual operation mode, displaying velocity mode.

5.1.14. Object 6502: Supported drive mode

Informs about the supported drive modes, primarily velocity mode.

6. Control from CANopen Network

6.1. NMT state machine

Describes the Network Management (NMT) state machine for CANopen devices.

6.2. SDO communication

Explains how to read or write inverter parameters using SDO communication.

6.2.1. Read object (Upload object)

6.2.2. Write object (Download object)

Details the data format for sending write requests for object data.

6.2.3. Abort code

6.3. PDO communication

6.3.1. TxPDO and RxPDO communication type

Defines transmission types for TxPDO and RxPDO for synchronous or asynchronous communication.

6.3.2. RTR (Remote Transfer Request) communication

6.3.3. SYNC communication

Describes how to update data synchronously using SYNC messages.

6.3.4. Emergency object

6.4. Communication disconnection detection function

Detects communication loss using heartbeat or node guarding services.

6.4.1. Heartbeat Consumer

6.4.2. Heartbeat producer

Sends heartbeat messages to inform about the inverter's node status.

6.4.3. Node Guarding

6.4.4. NMT Boot-up

Describes the NMT Boot-up message sent by the inverter upon power-on or reset.

7. Example communication

7.1. Asynchronous communication

Demonstrates example communication for controlling run/stop and setting frequency asynchronously.

7.2. SYNC communication

8. Specifications

8.1. Data and operating specification

Specifies communication profile, indicator, and medium details.

8.2. CANopen device specification

Lists CANopen device parameters like Node-ID, baud rate, and PDO/SDO support.

8.3. Connecting of CANopen communication option