Toshiba TOSVERT VF-MB1 Series - Default Chapter; Table of Contents

E6581692
- 2 -
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