Toshiba TOSVERT VF-S15 series - General Outlines of the Communication Function

E6581911
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Table of Contents
1. Scope ................................................................................................................................................. 4
1.1. Overview .................................................................................................................................... 4
1.2. Applicable model ....................................................................................................................... 4
1.3. EDS file ...................................................................................................................................... 4
2. Hardware Setup ................................................................................................................................. 5
2.1. Mounting and removing ............................................................................................................. 5
2.1.1. Mounting/removing insert type option of VF-S15 .............................................................. 5
2.1.2. Mounting/removing insert type option of VF-AS3 ............................................................. 7
3. LED information ................................................................................................................................. 8
3.1. VF-S15 LED location ................................................................................................................. 8
3.2. VF-AS3 LED location ................................................................................................................. 8
3.3. LED indicator (CiA303-3)........................................................................................................... 9
3.4. CAN LED indicator .................................................................................................................... 9
3.5. Command & Setpoint selection (Local/Remote) ..................................................................... 10
3.6. Cable Specification .................................................................................................................. 11
3.7. Network configuration .............................................................................................................. 11
3.8. Bus cable length (CiA303-1).................................................................................................... 12
3.9. Example of SCAN time ............................................................................................................ 13
4. Parameters ...................................................................................................................................... 14
4.1. Command and Freq. Reference setting .................................................................................. 14
4.2. Communication parameters .................................................................................................... 16
5. Communication Object ..................................................................................................................... 19
5.1. Communication Profile (DS 301) ............................................................................................. 19
5.1.1. Communication Profile (0x1000 to 0x1018) ................................................................... 19
5.1.2. SDO sever object............................................................................................................ 20
5.1.3. PDO object ..................................................................................................................... 21
5.1.4. RPDO object ................................................................................................................... 21
5.1.5. TPDO object ................................................................................................................... 23
5.2. Manufacturer specific profile ................................................................................................... 24
5.3. Device Profile (CiA402) ........................................................................................................... 25
6. Running by CiA402 drive profile ....................................................................................................... 26
6.1. CiA402 drive profile ................................................................................................................. 26
6.1.1. Object 0x603F: Error Code ............................................................................................. 27
6.1.2. Object 0x6040: Controlword ........................................................................................... 29
6.1.3. Object 0x6041: Statusword............................................................................................. 31
6.1.4. Object 0x6042: vl_target_velocity ................................................................................... 31
6.1.5. Object 0x6043: vl_velocity_demand ............................................................................... 31
6.1.6. Object 0x6044: vl_velocity_actual_value ........................................................................ 31
6.1.7. Object 0x6046: vl_velocity_min_max_amount ............................................................... 32
6.1.8. Object 0x6048: vl_velocity_acceleration ......................................................................... 32
6.1.9. Object 0x6049: vl_velocity_deceleration ........................................................................ 32
6.1.10. Object 0x604A: vl_velocity_quick_stop .......................................................................... 32
6.1.11. Object 0x605A: Quick stop option code ......................................................................... 33
6.1.12. Object 0x6060: Modes of operation ................................................................................ 33
6.1.13. Object 0x6061: Modes of operation display .................................................................... 33
6.1.14. Object 0x6502: Supported drive mode ........................................................................... 33
7. Control from CANopen Network ...................................................................................................... 34
7.1. NMT state machine ................................................................................................................. 34
7.2. SDO communication ............................................................................................................... 34
7.2.1. Read object (Upload object) ........................................................................................... 35
7.2.2. Write object (Download object)....................................................................................... 35
7.2.3. Abort code ...................................................................................................................... 36
7.3. PDO communication ............................................................................................................... 37
7.3.1. TxPDO and RxPDO communication type ....................................................................... 37
7.3.2. RTR (Remote Transfer Request) communication .......................................................... 38