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Delta Electronics REG300A23A-21 [120/131] Canopen supporting index
![Delta Electronics REG300A23A-21 [120/131] Canopen supporting index](/views2/1479410/page120/bg78.png)
Chapter 14 CANopen Overview AFE2000 Series
14-118
14.4 CANopen Supporting Index
Basic Index Support by AFE2000:
Index
Sub
Definition Default Setting
R/W
Size
Note
1000H 0 Device type 00010192H
R
U32
1001H 0 Error register 0
R
U8
1005H 0 COB-ID SYNC message 80H
R
U32
1006H 0 Communication cycle period 0
RW
U32
Unit: us
The setting value should be in a
multiple of 500us (integer) and
within the range 500us to 16ms
1008H 0 Manufacturer device name 0
R
U32
1009H 0 Manufacturer hardware version 0
R
U32
100AH 0 Manufacturer software version 0
R
U32
100CH 0 Guarding time 0
RW
U16
Unit: ms
100DH 0 Guarding factor 0
RW
U8
0 Store Parameter 2
R
U8
1 Save all parameters 0
RW
U32
1010H
2
Save communication
parameter
1
RW
U32
0 Restore Parameter 2
R
U8
1 Restore all parameters 0
RW
U32
1011H
2
Restore communication
parameter
1
RW
U32
1014H 0 COB-ID emergency 0000080H+Node-ID
R
U32
1015H 0 Inhibit time EMCY 0
RW
U16
Unit: 100us
The setting value should be in a
multiple of 10 (integer).
0 Consumer heartbeat time 1
R
U8
1016H
1 Consumer 1 0
RW
U32
Unit: 1ms
Disable Guarding time to
function properly,
1017H 0 Producer heartbeat time 0
RW
U16
Unit: 1ms
Disable Guarding time to
function properly.
0 Number 0
R
U8
1 Vender ID 000001DDH
R
U32
2 Product code 2A00+machine code
R
U32
1018H
3 Revision 00010000H
R
U32
0 Server SDO Parameter 2
R
U8
1 COB-ID Client -> Server 0000600H+Node-ID
R
U32
1200H
2 COB-ID Client <- Server 0000580H+Node-ID
R
U32
0 Number 2
R
U8
1 COB-ID used by PDO 00000200H+Node-ID
RW
U32
00:Acyclic& Synchronous
01~240:Cyclic & Synchronous
1400H
2 Transmission Type 5
RW
U8
255:Asynchronous
0 Number 2
R
U8
1401H
1 COB-ID used by PDO 80000300H+Node-ID
RW
U32
Содержание
- Table of content 2
- Chapter 1 introduction 3
- Model afe075a23a 3
- Nameplate 3
- Receiving and inspection 3
- Aa237 t 0 01 0001 4
- Afe 075a 23 a 4
- Model name 4
- Serial number 4
- Dimensions 5
- Frame b afe075a23a afe075a43a afe150a43a 5
- Detail a mounting hole 6
- Detail b mounting hole 6
- Frame c afe150a23a afe220a23a afe220a43a 6
- See detail a 6
- See detail b 6
- Frame d d1 afe370a23a afe370a43a afe450a43a afe750a43a 7
- Digital keypad 8
- Kpc ce01 8
- Chapter 2 installation 9
- The appearances shown in the following figures are for reference only 9
- This page is intentionally left blank 12
- Chapter 3 wiring 13
- Delta afe 2000 13
- One to one installation one afe unit one ac motor drive 13
- Delta afe 2000 14
- One to many installation one afe unit many ac motor drives 14
- Chapter 4 main circuit terminals 15
- Main power terminal 15
- Phase lock input terminal 3 phase 15
- Terminals description 15
- 6 awg 13 m 16
- Afe075a23a 6 awg 13 m 16
- Afe075a43a 8 awg 8 m 16
- Afe150a43a 16
- Awg 21 m 16
- Frame b 16
- M5 35kg cm 30 lb in 3 34nm 16
- Main circuit terminals 16
- Main circuit terminals r l1 s l2 t l3 dc dc 16
- Models max wire gauge min wire gauge torque 10 16
- Ul installations must use 600v 75 or 90 wire use copper wire only 16
- 0 awg 53 m 17
- 4 awg 21 m 17
- Afe150a23a 1 awg 42 m 17
- Afe220a23a 1 0 awg 53 m 17
- Afe220a43a 17
- Frame c 17
- M8 80kg cm 69 lb in 7 5nm 17
- Main circuit terminals 17
- Models max wire gauge min wire gauge torque 10 17
- R l1 s l2 t l3 dc dc 17
- Ul installations must use 600v 75 or 90 wire use copper wire only 17
- Wire gaug 17
- 300mcm 152m 18
- Afe370a23a 250mcm 127m 18
- Afe370a43a 1 0 awg 53 m 18
- Afe450a43a 2 0 awg 67 m 18
- Afe750a43a 18
- Frame d 18
- M8 200kg cm 173 lb in 19 2nm 18
- Main circuit terminals r l1 s l2 t l3 dc dc 18
- Mcm 152m 18
- Models max wire gauge min wire gauge torque 10 18
- Chapter 5 control terminals 19
- Removable terminal block 19
- Specifications of control terminal 19
- Digital frequency signal commo 20
- Multi function input 1 8 20
- Multi function output common 20
- Sink npn source pnp mode switching terminals 20
- Terminals terminal function factory setting npn mode 20
- Below arrow 1 then lift the control board as indicated in the figure below arrow 2 21
- Check the polarity 21
- Components to avoid contact bounce 21
- Digital inputs fwd rev mi1 mi8 com 21
- It is used to output each monitor signal such as drive is in operation frequency attained or overload indication 21
- Loosen the screws by screwdriver as shown in the figure 21
- Make sure to connect the digital outputs to the right polarity 21
- Remove the control board by pulling it out in parallel direction for 6 8 cm as indicated in the figure 21
- Removing the terminal block 21
- Terminals terminal function factory setting npn mode 21
- Transistor outputs mo1 mo2 mcm 21
- When connecting a relay to the digital outputs connect a surge absorber across the coil and 21
- When using contacts or switches to control the digital inputs please use high quality 21
- This page is intentionally left blank 22
- Ac reactor 23
- Applicable accessories for your afe2000 unit or contact local distributor for suggestion on applicable 23
- Chapter 6 optional accessories 23
- Chapter 6 optional accessories afe2000 series 23
- Conduit box 23
- Digital keypad 23
- Fan kit 23
- Flange mounting kit 23
- Model and specification the optional accessories would significantly improves the afe2000 efficiency 23
- Non fuse circuit breaker 23
- Panel mounting 23
- The accessories list in this chapter are sold separately and are available upon request please select 23
- Zero phase reactor 23
- Comply with ul standard per ul 508 paragraph 45 part a 24
- Current a 24
- Current a model recommended 24
- Fuse specification chart 24
- Fuses with specification smaller than the following table indicates are allowed 24
- Model recommended 24
- Non fuse circuit breaker 24
- Phase 230v 3 phase 460v 24
- The rated current of the breaker shall be 2 4 times of the maximum rated input current of the afe unit 24
- V model 24
- Vmodel 24
- Ac reactor 25
- Ac reactor ac motor drive delta afe 2000 25
- R1 s1 t1 25
- Terminal specifications 25
- U x y w z v 25
- Wiring diagram 25
- Frame structure 26
- Model specifications 26
- Mounting holes 26
- Suitable screw size h 26
- Tblk c tblk b tblk a 26
- Zero phase reactor 27
- Chapter 6 optional accessories afe2000 series 28
- Descriptions to the function key 28
- Digital keypad 28
- Enter press enter and go to the next level if it is the last level then press enternter to execute the command 28
- Esc press esc to return to the last page if there is a sub menu press esc will return to the previous category 28
- Frame size 28
- Function key this function will be available soon 28
- Key description 28
- Kpc cc01 28
- Menu press menu key at any time would return to the main menu 28
- Start operation 28
- This function will be available soon 28
- Up down left and right 2 when setting the number use left and right key to increase and decrease the value 3 when selecting the options use up and down key to move the selection 28
- A 66 2 14 30
- Accessories 1 30
- Accessories 2 30
- B 110 4 62 30
- Cutout dimension waterproof level ip56 panel thickness 1 mm 1 mm 2 mm 30
- Mm inch 30
- Normal cutout dimension 30
- Panel cutout dimension 30
- Panel mounting mkc kppk 30
- Screw 4 m4 p 0 l8mm torque 10 12kg cm 8 10 lb in 30
- Wall mounting embedded mounting 30
- 面 panel mounting mkc kppk 30
- Appearance 32
- Conduit box kit 32
- Installation 32
- Chapter 6 optional accessories afe2000 series 34
- Fan kit 34
- Fan removal 34
- Frames 34
- Chapter 6 optional accessories afe2000 series 35
- Applicable models frame b d frame b 36
- Flange mounting kit 36
- Frame c 38
- Installatio 39
- Frame d 40
- Installation for frame d 41
- This page is intentionally left blank 42
- Chapter 7 option cards 43
- Cmc mod01 44
- Cmc pd01 48
- Cmc dn01 50
- Cmc eip01 53
- Emc cop01 58
- Male female 58
- Chapter 8 specifications 59
- Gb t12668 2 59
- V series 460v series 59
- Chapter 9 digital keypad 61
- Descriptions of keypad functions 61
- Key descriptions 61
- Kpc cc01 optional 61
- Kpc ce01 61
- Descriptions of led functions 62
- Led descriptions 62
- Off single flash 200 ms 62
- Steady off afe2000 does not perform the operation command 62
- Off double flash 200 ms 63
- Off triple flash 200 ms 63
- Optional accessory for digital keypad rj45 extension lead 63
- This page is intentionally left blank 64
- Chapter 10 summary of parameter settings 65
- Display parameters 65
- Factory 65
- Parameter 65
- Setting 65
- Settings 65
- This chapter provides summary of parameter settings for user to gather the parameter setting ranges factory settings and set parameters the parameters can be set changed and reset by the digital keypad 65
- Factory 66
- Parameter 66
- Setting 66
- Settings 66
- Factory 67
- Parameter 67
- Setting 67
- Settings 67
- Basic parameter 68
- Digital input output parameters 69
- Factory 70
- Parameter explanation 70
- Setting 70
- Special protection parameters 70
- Factory 71
- Parameter explanation settings 71
- Setting 71
- 通訊參數 71
- Factory 72
- Parameter explanation settings 72
- Setting 72
- Factory 73
- Parameter explanation settings 73
- Setting 73
- This page is intentionally left blank 74
- Chapter 11 description of parameter settings 75
- Current of afe unit 75
- Dc bus voltage 75
- Display afe2000 rated current 75
- Display parameters 75
- Display the amount of power consumed kwh high word 75
- Display the amount of power consumed kwh low word 75
- Display the amount of power regenerated kwh high word 75
- Display the input power of afe2000 kw 75
- Identity code of afe2000 75
- Mains input frequency line frequency 75
- Software version 75
- Current value at fault 76
- Dc bus voltage at fault 76
- Digital input status on off 76
- Digital output status on off 76
- Display afe2000 internal temperature 76
- Display the amount of power regenerated kwh low word 76
- Display total power aaa kwh low word 76
- Display total power kwh high word 76
- Igbt temperature 76
- Mains input frequency at fault 76
- Nd recent fault record 2nd recent fault record 76
- Rd recent fault record 3rd recent fault record 76
- Recent fault record 76
- Th recent fault record 4th recent fault record 76
- Th recent fault record 5th recent fault record 76
- Th recent fault record 6th recent fault record 76
- Electricity cost high word 77
- Electricity cost low word 77
- Input ac voltage 77
- Basic parameters 78
- Parameter reset 78
- Password input 78
- Password set 78
- Start up screen display 78
- Accel time 79
- Control mode selection 79
- Decel time 79
- Source of operation command 79
- Dc bus bandwidth control 80
- Dc bus gain ratio of i 80
- Dc bus gain ratio of p 80
- Dc bus voltage command 80
- Inductance value of reactor 80
- Digital input output parameters 81
- Multi function input command 1 mi1 81
- Multi function input command 2 mi2 81
- Multi function input command 3 mi3 81
- Multi function input command 4 mi4 81
- Multi function input command 5 mi5 81
- Multi function input command 6 mi6 81
- Multi function input command 7 mi7 81
- Multi function input command 8 mi8 81
- Digital input operation direction 82
- Digital input response time 82
- Multi function output mo1 82
- Multi function output mo2 82
- Multi function output relay1 82
- Multi function output relay2 82
- Multi function output direction 83
- Current limit drive 84
- Current limit regenerate 84
- Igbt temperature warning level 84
- Low voltage level 84
- Phase lock frequency deviation level 84
- Phase lock frequency deviation time 84
- Protection parameters 84
- This parameter sets the maximum current limit for afe2000 at drive status 84
- This parameter sets the maximum current limit for afe2000 at energy regenerating status 84
- After fault occurs only for over current oc or over voltage ov fault occurs and occ the afe2000 unit can be reset restarted automatically up to 10 times setting this parameter to 0 will disable to reset restart the operation after any fault has occurred 85
- Ambient temperature warning level 85
- Fan control 85
- Fault retry reset time 85
- Numbers of fault retry 85
- Voltage boosting error level 85
- Voltage boosting error time 85
- Electricity cost 86
- Work delete 86
- Communication address 87
- Communication parameters 87
- Communication protocol 87
- Ev 2 gnd 3 sg 4 sg 5 nc 6 nc 87
- Rs 485 87
- Serial communication when controlling by communcation it needs to connect the drive and pc by ifd6530 or ifd6500 converter 87
- Time out detection 87
- Transmission fault treatment 87
- Transmission speed 87
- Response delay time 95
- Com2 communication protocol 96
- Com2 time out detection 96
- Com2 transmission fault treatment 96
- Com2transmission speed 96
- Canopen baud rate 97
- Canopen communication status 97
- Canopen slave address 97
- Communication card type 97
- Canopen warning record 98
- Communication card address 98
- Communication card firmware version 98
- Fault code 98
- Product code 98
- Setting of devicenet speed 98
- Additional setting of devicenet speed 99
- Communication card address mask 1 communication card address mask 2 communication card address mask 3 communication card address mask 4 99
- Communication card ip address 1 communication card ip address 2 communication card ip address 3 communication card ip address 4 99
- Communication card ip configuration 99
- Getway address 1 of the communication card getway address 2 of the communication card getway address 3 of the communication card getway address 4 of the communication card 99
- Communication card additional setting 100
- Communication card reset 100
- Communication card status 100
- Password for communication card low word password for communication card high word 100
- Chapter 12 warning codes 101
- Comm error 1 101
- Warning 101
- Chapter 13 fault codes and descriptions 105
- Fault name fault descriptions corrective actions 105
- Oc at accel 105
- Fault name fault descriptions corrective actions 106
- Fault name fault descriptions corrective actions 107
- Fault name fault descriptions corrective actions 108
- Fault name fault descriptions corrective actions 109
- This page is intentionally left blank 110
- Chapter 14 canopen slave 111
- Canopen overview 112
- Canopen protocol 112
- Canopen communication protocol 113
- Nmt network management object 113
- Pre defined connection set 113
- 251 reserved 115
- Abort domain transfer 115
- Cyclic acyclic synchronous asynchronous rtr only 115
- Data 0 data 1 data 2 data 3 data 4 data 5 data 6 data 7 115
- Initiate domain download 115
- Initiate domain upload 115
- N bytes not use e normal 0 expedited 1 s size indicated 115
- Pdo communication can be described by the producer consumer model each node of the network will listen to the messages of the transmission node and distinguish if the message has to be processed or not after receiving the message pdo can be transmitted from one device to one another device or to many other devices every pdo has two pdo services a txpdo and a rxpdo pdos are transmitted in a non confirmed mode 115
- Pdo process data object 115
- Pdo transmission type is defined in the pdo communication parameter index 1400h for the 1st rxpdo or 1800h for the 1st txpdo and all transmission types are listed in the following table 115
- Sdo is used to access the object dictionary in every canopen node by client server model one sdo has two cob id request sdo and response sdo to upload or download data between two nodes no data limit for sdos to transfer data but it needs to transfer by segment when data exceeds 4 bytes with an end signal in the last segment 115
- Sdo service data objects 115
- The object dictionary od is a group of objects in canopen node every node has an od in the system and od contains all parameters describing the device and its network behavior the access path of od is the index and sub index each object has a unique index in od and has sub index if necessary the request and response frame structure of sdo communication is shown as follows 115
- Type number 115
- Type number 1 240 indicates the number of sync message between two pdo transmissions type number 252 indicates the data is updated but not sent immediately after receiving sync type number 253 indicates the data is updated immediately after receiving rtr type number 254 delta canopen doesn t support this transmission format type number 255 indicates the data is asynchronous transmission 115
- 114 14 114 116
- All pdo transmission data must be mapped to index via object dictionary example 116
- Chapter 14 canopen overview afe2000 series 116
- Content emergency error code error register 116
- Emcy emergency object 116
- Emergency objects are triggered when hardware failure occurs for a warning interrupt the data format of a emergency object is a 8 bytes data as shown in the following byte 0 1 2 3 4 5 6 7 116
- Master transmits data to slave pdo 116
- Object 1001h manufacturer specific error field 116
- Please refer to chapter 5 canopen error codes for emergency definition of c2000 116
- An external adapter card emc cop01 is used for canopen wiring establish canopen to afe2000 118
- Canopen wiring 118
- Connection the link is enabled by using rj45 cable the two farthest ends must be terminated with 120ω 118
- Terminating resistors 118
- Canopen communication control 119
- Delta standard control mode 119
- Basic index support by afe2000 120
- Canopen supporting index 120
- Canopen fault code 123
- Canopen led function 131
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