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

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Table of Contents
1. OVERVIEW.................................................................................................................................................5
1.1. Communication and Services ..............................................................................................................5
2.
NAMES AND FUNCTIONS ........................................................................................................................6
2.1. Outline..................................................................................................................................................6
2.2. RJ45 connector pin layout ...................................................................................................................7
2.3. LED indicator........................................................................................................................................8
3.
PARAMETERS ...........................................................................................................................................9
3.1. Communication parameters.................................................................................................................9
3.2. Communication parameters for IPE003Z ............................................................................................9
3.3. The details of the parameter setting ..................................................................................................12
3.3.1. Network error detection (c100 - c103) ..............................................................................12
4.
COMMUNICATION OBJECT ...................................................................................................................13
4.1. Communication Profile.......................................................................................................................13
4.2. RPDO: Receive PDO.........................................................................................................................14
4.3. TPDO: Transmit PDO ........................................................................................................................14
4.4. MB1/S15 specific profile.....................................................................................................................14
4.5. Application Profile (CiA402)...............................................................................................................15
4.6. Abort code (CiA 301)..........................................................................................................................16
5.
DRIVE PROFILE.......................................................................................................................................17
5.1. CiA 402 Drive profile ..........................................................................................................................17
5.2. TOSHIBA Drive profile .......................................................................................................................17
6.
CIA
®
402 – IEC61800-7 FUNCTIONAL PROFILE....................................................................................24
6.1. Velocity mode object..........................................................................................................................24
6.1.1. CiA 402 profile ............................................................................................................................24
6.1.2. TOSHIBA drive profile.................................................................................................................25
6.1.3. Object 0x6040: Controlword .......................................................................................................26
6.1.4. Object 6041: Statusword ............................................................................................................26
6.1.5. CiA402 State Chart.....................................................................................................................28
6.1.6. Object 0x6042: vl_target_velocity...............................................................................................30
6.1.7. Object 0x6043: vl_velocity_demand...........................................................................................30
6.1.8. Object 0x6044: vl_velocity_actual_value....................................................................................30
6.1.9. Object 0x6046: vl_velocity_min_max_amount ...........................................................................30
6.1.10. Object 0x6048: vl_velocity_acceleration.................................................................................31
6.1.11. Object 0x6049: vl_velocity_deceleration.................................................................................31
6.1.12. Object 0x604A: vl_velocity_quick_stop...................................................................................31
6.1.13. Object 0x605A: Quick stop option code..................................................................................31
6.1.14. Object 0x6060: Mode of operation..........................................................................................32
6.1.15. Object 0x6061: Mode of operation display..............................................................................32
6.1.16. Object 0x6502: Supported drive mode ...................................................................................32
6.2. Object 603F: Error Code....................................................................................................................33
7.
ETHERCAT STATE MACHINE (ESM).....................................................................................................34
8.
EXAMPLE: VF-MB1 WITH TWINCAT
®
“PLC - CONFIGURATION”......................................................36
8.1. Hardware............................................................................................................................................36
8.2. TwinCAT
®
software installation..........................................................................................................36
8.3. ESI file (EtherCAT Slave Information) ...............................................................................................36
8.4. MB1 configuration ..............................................................................................................................36
8.5. System Manager: Declare your computer on Ethernet network........................................................37
8.6. System Manager: Install the master ..................................................................................................38
8.7. System Manager – Install the slave: MB1 in “PLC- configuration” ....................................................40
8.8. PLC – Control: initialization................................................................................................................41
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