![Delta Electronics VFD037CB43A-20 [260/363] Canopen communication protocol](/img/pdf.png)
Delta Electronics VFD037CB43A-20 [260/363] Canopen communication protocol
![Delta Electronics VFD037CB43A-20 [260/363] Canopen communication protocol](/views2/1567795/page260/bg104.png)
Chapter 13 CANopen Overview |C200 Series
13-3
Pre-Defined Connection Set
To reduce configuration effort for simple networks, CANopen define a mandatory default identifier
allocation scheme. The 11-bit identifier structure in predefined connection is set as follows:
COB Identifier (CAN Identifier)
10 9 8 7 6 5 4 3 2 1 0
Function Code Node Number
Object Function Code Node Number COB-ID Object Dictionary Index
Broadcast messages
NMT 0000 - 0 -
SYNC 0001 - 80H 1005H, 1006H, 1007H
TIME STAMP 0010 - 100H 1012H, 1013H
Point-to-point messages
Emergency 0001 1-127 81H-FFH 1014H, 1015H
TPDO1 0011 1-127 181H-1FFH 1800H
RPDO1 0100 1-127 201H-27FH 1400H
TPDO2 0101 1-127 281H-2FFH 1801H
RPDO2 0110 1-127 301H-37FH 1401H
TPDO3 0111 1-127 381H-3FFH 1802H
RPDO3 1000 1-127 401H-47FH 1402H
TPDO4 1001 1-127 481H-4FFH 1803H
RPDO4 1010 1-127 501H-57FH 1403H
Default SDO (tx) 1011 1-127 581H-5FFH 1200H
Default SDO (rx) 1100 1-127 601H-67FH 1200H
NMT Error Control 1110 1-127 701H-77FH 1016H, 1017H
CANopen Communication Protocol
It has services as follows:
NMT (Network Management Object)
SDO (Service Data Objects)
PDO (Process Data Object)
EMCY (Emergency Object)
NMT (Network Management Object)
The Network Management (NMT) follows a Master/Slave structure for executing NMT service. Only
one NMT master is in a network, and other nodes are regarded as slaves. All CANopen nodes have
a present NMT state, and NMT master can control the state of the slave nodes. The state diagram
of a node is shown as follows:
Содержание
- Please read prior to installation for safety 2
- Preface 2
- Table of contents 3
- Chapter 1 introduction 4
- Nameplate information 4
- Receiving and inspection 4
- Cb ea i t 1 08 0001 5
- Model name 5
- Serial number 5
- Vfd 007 cb 43 a 21 m 5
- Frame a 6
- Frame a0 6
- Frame a0 a screw torque 6
- Rfi jumper 6
- Dimensions 8
- Frame a0 vfd004cb21a 20 vfd007cb21a 20 vfd004cb23a 20 vfd007cb23a 20 vfd007cb43a 20 vfd015cb43a 20 vfd015cb23a 20 fan module included 8
- Frame a0 vfd015cb21a 20 vfd022cb21a 20 vfd022cb23a 20 vfd037cb23a 20 vfd022cb43a 20 vfd037cb43a 20 9
- Frame a0 vfd007cb43a 21 vfd015cb43a 21 vfd004cb23a 21 vfd007cb23a 21 vfd004cb21a 21 vfd007cb21a 21 vfd015cb23a 21 fan module included 10
- Frame a0 vfd022cb43a 21 vfd037cb43a 21 vfd022cb23a 21 vfd037cb23a 21 vfd015cb21a 21 vfd022cb21a 21 11
- Frame a0 vfd004cb21a 21m vfd004cb23a 21m vfd007cb21a 21m vfd007cb23a 21m vfd007cb43a 21m vfd015cb43a 21m vfd015cb23a 21m fan module included 12
- Frame a0 vfd015cb21a 21m vfd022cb21a 21m vfd022cb23a 21m vfd037cb23a 21m vfd022cb43a 21m vfd037cb43a 21m 13
- Frame a vfd040cb43a 20 vfd055cb43a 20 vfd075cb43a 20 vfd040cb43a 21 vfd055cb43a 21 vfd075cb43a 21 14
- Frame a vfd040cb43a 21m vfd055cb43a 21m vfd075cb43a 21m 15
- Chapter 1 introduction c200 series 16
- Digital keypad 16
- Kpe le02 16
- Chapter 2 installation 17
- Minimum mounting clearance and installation 17
- Derating curve diagram of heavy duty pr 0 16 1 21
- Fc khz 21
- Set pr 6 55 0 or 2 21
- Set pr 6 55 1 21
- Vfd004 037cb23a vfd004 022cb21a 21
- Vfd007 075cb43a 21
- Chapter 3 how to select the right ac motor drive 22
- Chapter 3 how to select the right acmotor drive 22
- The choice of the right ac motor drive for the application is very important and has great influence on its lifetime if the capacity of ac motor drive is too large it cannot offer complete protection to the motor and motor maybe damaged if the capacity of ac motor drive is too small it cannot offer the required performance and the ac motor drive maybe damaged due to overloading but by simply selecting the ac motor drive of the same capacity as the motor user application requirements cannot be met completely therefore a designer should consider all the conditions including load type load speed load characteristic operation method rated output rated speed power and the change of load capacity the following table lists the factors you need to consider depending on your requirements 22
- 1 capacity formulas 23
- When one ac motor drive operates more than one motor 23
- When one ac motor drive operates one motor 23
- _ _ _ _ _ _ a drive motor ac of current rated the i k 23
- Symbol explanation 24
- 2 general precaution 25
- Parameter settings note 25
- Selection note 25
- 3 how to choose a suitable motor 26
- Special motors 26
- Standard motor 26
- Ac motor drive motor 27
- Different and depending on brand the lubricating function for operating long time at low speed and for high speed operation needs to be considered carefully 27
- Motor torque 27
- Pay attention to reduced lubrication when operating gear reduction motors gearboxes belts and chains etc over longer periods at low speeds at high speeds of 50 60hz and above lifetime reducing noises and vibrations may occur 27
- Power transmission mechanism 27
- Synchronous motor the rated current and starting current are higher than for standard motors please check before operation and choose the capacity of the ac motor drive carefully when the ac motor drive operates more than one motor please pay attention to starting and changing the motor 27
- The torque characteristics of a motor operated by an ac motor drive and commercial mains power are different below you ll find the torque speed characteristics of a standard motor 4 pole 15kw 27
- Chapter 4 wiring 28
- Danger 28
- Wiring diagram 29
- Chapter 5 main circuit terminals 31
- For frame a 31
- Terminals for connecting dc reactor external brake resistor external brake resistor and dc circuit 32
- 1 main circuit terminals 34
- Figure 1 figure 2 34
- Frame a0 34
- Main circuit terminals 34
- Figure 1 figure 2 35
- Figure 1 shows the terminal specification 35
- Frame a 35
- Main circuit terminal 35
- R l1 s l2 t l3 u t1 v t2 w t3 dc 2 1 dc b1 b2 35
- Chapter 6 control terminals 36
- Frame a0 36
- 10v 0 4 20ma 37
- 20ma 4 20ma 37
- Aci avi 37
- Control terminal the sketch map 37
- Frame a 37
- Frame a0 37
- Put back the cover then fasten tightly the screw screw torque m3 6 8kg cm 5 6 lb in 37
- Specifications of control terminal 37
- Torque a 5kg cm 4 1ib in 0 9nm as shown in figure above b 8kg cm 6 4ib in 0 8nm as shown in figure above 37
- Wire gauge 26 16awg 0 281 1 18m 37
- Pg function explanation 40
- Applied at sink mode 41
- Since mi1 mi8 shares the same com therefore when using a pg card mi mi6 can only be 41
- Chapter 7 optional accessories 42
- All brake resistors and brake units used in ac motor drives 43
- Applicable 43
- Braking 43
- Braking current 43
- Braking resistor 43
- Braking torque 10 ed 43
- Braking torque kg m 43
- Chapter 7 optional accessories c200 series 43
- Current a 43
- Max brake torque 43
- Max total 43
- Min resistor 43
- Peak power 43
- Resistor value spec for each ac motor drive 43
- Series for each brake 43
- V 1 phase 43
- V 3 phase 43
- Value ω 43
- Chapter 7 optional accessories c200 series 44
- For safety concern install an overload relay o l between the brake unit and the brake resistor in conjunction with the 44
- High input voltage under such circumstance just turn off the power to prevent damaging the brake resistor 44
- If damage to the drive or other equipment is due to the fact that the brake resistors and brake modules in use are not 44
- Magnetic contactor mc prior to the drive for abnormal protection the purpose of installing the thermal overload relay is to 44
- Multiple of current setting xln a 44
- Overload capacity in 10s host starting and the braking current is 126a in this case user should select a rated 50a 44
- Protect the brake resistor from damage due to frequent brake or due to brake unit keeping operating resulted from unusual 44
- Provided by delta the warranty will be void 44
- Second 44
- Specification 44
- Take into consideration the safety of the environment when installing the brake resistors if the minimum resistance value is 44
- The watts 44
- Thermal relay 44
- Thermal relay selection is basing on its overload capability a standard braking capacity for c2000 is 10 ed tripping 44
- Thermal relay the property of each thermal relay may vary among different manufacturer please carefully read 44
- This chart is for normal usage if the ac motor drive is applied for frequent braking it is suggested to enlarge 2 3 times of 44
- Time 10s the figure below is an example of 406v 110kw ac motor drive it requires the thermal relay to take 260 44
- To be utilized consult local dealers for the calculation of watt figures 44
- Tripping time 44
- Non fuse circuit breaker 45
- Fuse specification chart 46
- Ac reactor 47
- Application 1 when more than one ac motor drive is connected to the same mains power and one of them is on during operation 47
- Applications for ac reactor 47
- Capacitors may cause voltage dip the ac motor drive may be damaged when over current occurs during operation 47
- Connected in input circuit 47
- Problem when applying power to one of the ac motor drive the charge current of the 47
- V 50 60hz 3 phase 47
- When the ac motor drive is connected directly to a large capacity power transformer 600kva or above or when a phase lead capacitor is switched excess peak currents may occur in the power input circuit due to the load changes and the converter section may be damaged to avoid this it is recommend to use a serial connected ac input reactor 6 at the ac motor drive mains input side to reduce the current and improve the input power efficiency 230v 50 60hz 1 phase 47
- Application 2 silicon rectifier and ac motor drive are connected to the same power 48
- Application 3 when the power supply capacity exceeds 10 times of the inverter capacity 48
- Correct wiring 48
- Dc reactor 48
- Problem switching spikes will be generated when the silicon rectifier switches on off 48
- Problem when the mains power capacity is too large line impedance will be small and the charge current will be too high this may damage ac motor drive due to higher rectifier temperature 48
- These spikes may damage the mains circuit correct wiring 48
- V dc choke 48
- Zero phase reactors 49
- Applicable 50
- Choose suitable motor cable and precautions 50
- Emi filter 50
- Emi filter installation 50
- General precaution 50
- Reference website 50
- The length of motor cable 51
- Descriptions of keypad functions 53
- Digital keypad 53
- Key descriptions 53
- Kpc cc01 53
- Kpc ce01 53
- Descriptions of led functions 54
- Dimension 54
- Led descriptions 54
- A 66 2 14 55
- Accessories 1 55
- Accessories 2 55
- B 110 4 62 55
- Cutout dimension waterproof level ip56 panel thickness 1 mm 1 mm 2 mm 55
- Mm inch 55
- Normal cutout dimension normal cutout dimension 55
- Panel cutout dimension 55
- Panel mounting mkc kppk 55
- Screw 4 m4 p 0 l8mm torque 10 12kg cm 8 10 lb in 55
- Wall mounting embedded mounting 55
- Designed only for keypad not for canopen communication 56
- Rj45 extension lead for digital keypad 56
- Fan kit 57
- Fan removal 57
- Frames of the fan kit 57
- Disconnect the power terminal before removing the fan as shown below 58
- Frame a applicable model vfd040cb43a 20 21 21m vfd055cb43a 20 21 21m vfd075cb43a 20 21 21m 58
- Frame a0 applicable model vfd015cb23a 20 21 21m 1 disconnect the power terminal before removing the fan as shown below 2 loosen the two screws to remove the fan 58
- Press the tabs on both side of the fan to successfully remove the fan the arrow 58
- Applicable models all delta iabu products 59
- Application dimension 59
- Ifd6530 is a convenient rs 485 to usb converter which does not require external power supply and complex setting process it supports baud rate from 75 to 115 kbps and auto switching direction of data transmission in addition it adopts rj 45 in rs 485 connector for users to wire conveniently and its tiny dimension handy use of plug and play and hot swap provide more conveniences for connecting all delta iabu products to your pc 59
- Introduction 59
- Please thoroughly read this instruction sheet before installation and putting it into use 59
- Specifications 59
- The content of this instruction sheet and the driver file may be revised without prior notice please consult our distributors or download the most updated instruction driver version at http www delta com tw product em control cm control_cm_main asp 59
- Usb rs 485 communication interface ifd6530 59
- Warning 59
- 2 3 n end 60
- Mkcb hub01 multi function communication expansion card 60
- Modbus rs 485 canopen application 60
- Canopen communication cable 61
- Chapter 7 optional accessories c200 series 61
- Dimensions 61
- Model tap cb03 tap cb04 61
- Unit mm inch 61
- Chapter 08 specification 62
- V series 1 phase 62
- V series 3 phase 62
- Gb t12668 2 63
- General specifications 63
- V series 63
- Environment for operation storage and transportation 64
- Model frame top cover conduit box 64
- Specification for operation temperature and protection level 64
- Chapter 9 digital keypad 65
- Description of the digital keypad kpe le02 65
- Chapter 9 digital keypa 67
- How to operate the digital keypad 67
- Chapter 9 digital keypad c200 series 68
- Dimensions are in millimeter inch 68
- Keypad dimensions 68
- Reference table for the 7 segment led display of the digital keypad 68
- Chapter 10 summary of parameter settings 69
- Drive parameters 69
- Factory settings and set parameters the parameters can be set changed and reset by the digital keypad 69
- Im induction motor pm permanent magnet motor 69
- Parameter explanation settings factory setting 69
- This chapter provides summary of parameter settings for user to gather the parameter setting ranges 69
- Parameter explanation settings factory setting 70
- Parameter explanation settings factory setting 71
- Parameter explanation settings factory setting 72
- Basic parameters 73
- Parameter explanation settings factory setting 73
- Parameter explanation settings factory setting 74
- Digital input output parameters 75
- Parameter explanation settings factory setting 75
- Parameter explanation settings factory setting 76
- Parameter explanation settings factory setting 77
- Parameter explanation settings factory setting 78
- Analog input output parameters 79
- Parameter explanation settings factory setting 79
- Parameter explanation settings factory setting 80
- Parameter explanation settings factory setting 81
- Parameter explanation settings factory setting 82
- Multi step speed parameters 83
- Parameter explanation settings factory setting 83
- Motor parameters 84
- Parameter explanation settings factory setting 84
- Parameter explanation settings factory setting 85
- Parameter explanation settings factory setting 86
- Protection parameters 86
- Parameter explanation settings factory setting 87
- Parameter explanation settings factory setting 88
- Parameter explanation settings factory setting 89
- Parameter explanation settings factory setting 90
- Parameter explanation settings factory setting 91
- Special parameters 91
- Parameter explanation settings factory setting 92
- High function pid parameters 93
- Parameter explanation settings factory setting 93
- Communication parameters 94
- Parameter explanation settings factory setting 94
- Parameter explanation settings factory setting 95
- Im induction motor pm permanent magnet motor 96
- Mi7 a mi8 b 96
- Parameter explanation settings factory setting 96
- Speed feedback control parameters 96
- Parameter explanation settings factory setting 97
- Advanced parameters 98
- Im induction motor pm permanent magnet motor 98
- Parameter explanation settings factory setting 98
- Parameter explanation settings factory setting 99
- Chapter 11 description of parameter settings 100
- Drive parameter 100
- 07 00 08 00 07 103
- 24 fcmd 105
- Fcmd 00 20 105
- Filter time 105
- M igbt pwm v f table 105
- Real speed real speed 105
- Slip comp 105
- Dq2abc 106
- Carrier frequency acoustic noise 108
- Electromagnetic noise or leakage current 108
- Heat dissipation current wave 108
- Minimal 108
- Minimal minimal 108
- Significant 108
- Significant significant 108
- Motor rotation speed 110
- Display filter time keypad 113
- Reserved 113
- Software version date 113
- Group 1 basic parameters 114
- 1 general purpose 116
- 2 fan and hydraulic machinery 116
- Chapter 11 description of parameter settings c200 series 116
- Common settings of v f curve 116
- From it 116
- Pr 1 35 to pr 1 42 is the v f curve for the motor 2 when multi function input terminals 116
- Pr 2 01 02 08 and pr 2 26 pr 2 31 are set to 14 and enabled the ac motor drive will act as 116
- The 2nd v f curve 116
- The v f curve for the motor 1 is shown as follows the v f curve for the motor 2 can be deduced 116
- V f curve 116
- Voltage at the low frequency to prevent motor damage 116
- 01 00 01 01 01 02 01 03 01 05 01 04 01 06 01 07 01 08 117
- 3 high starting torque 117
- Chapter 11 description of parameter settings c200 series 117
- Factory setting 0 0 factory setting 0 0 117
- Fcmd frequency command 117
- Flow output frequency lower limit pr 1 11 117
- Fmin 4th output frequency setting pr 1 07 pr 1 41 117
- Frequency to the setting frequency please refer to the following diagram for details 117
- Fstart actual start frequency of drive 117
- Fstart start frequency pr 1 09 117
- Motor spec 60hz motor spec 50hz 117
- Pr setting pr setting v 117
- Settings 0 600 0hz settings 0 600 0hz 117
- Start up frequency 117
- When start frequency is higher than the min output frequency drives output will be from start 117
- Frequency 121
- Frequency setting command 122
- Internal frequency command 122
- Digital input output paramete 125
- Off contact is open 127
- Settings functions descriptions 127
- Settings functions descriptions 128
- Settings functions descriptions 129
- 10 for the frequency up down command 130
- Acceleration deceleration pr 1 12 01 19 and only be valid during operation 130
- Constant speed the accel decel speed of the up down key 130
- Factory setting 0 1 factory setting 0 1 130
- Factory setting 0 factory setting 0 130
- Off on 130
- Pr 2 09 set to 0 it will increase decrease frequency command f by the external terminal 130
- Pr 2 09 set to 1 it will increase decrease frequency command f by the setting of 130
- Settings 0 1 1 0hz ms settings 0 1 1 0hz ms 130
- Settings functions descriptions 130
- Settings settings 0 up down by the accel decel time 130
- These settings are used when multi function input terminals are set to 19 20 refer to pr 2 09 and 130
- Up down constant speed pr 2 10 1 up down constant speed pr 2 10 130
- Up down key as shown in the following diagram in this mode it also can be controlled by 130
- Up down key mode 130
- Up down key on the digital keypad 130
- Off on 131
- 14 02 16 02 17 is set to 28 138
- Chapter 11 description of parameter settings c200 series 138
- Factory setting 0 factory setting 0 138
- If this parameter is used without dc brake it will be invalid refer to the following operation timing 138
- Output current level setting for multi function output terminals 138
- Pr 2 13 02 14 02 16 and 02 17 is set to 27 138
- Run stop 138
- Settings 0 100 settings 0 100 138
- When output current is higher or equal to pr 2 33 it will activate multi function output terminal 138
- When output current is lower than pr 2 33 it will activate multi function output terminal pr 2 13 138
- Actual motor speed 139
- Mo d43 139
- Analog input output paramete 143
- Chapter 11 description of parameter settings c200 series 145
- Lower than or equal to bias 145
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control 145
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center 145
- Pr 3 03 10 145
- Pr 3 07 03 09 positive negative bias mode 145
- Pr 3 10 analog frequency command for reverse run 145
- Pr 3 11analog input gain avi 100 145
- Chapter 11 description of parameter settings c200 series 146
- Frequency 146
- Lower than or equal to bias 146
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control 146
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center 146
- Pr 3 03 10 146
- Pr 3 07 03 09 positive negative bias mode 146
- Pr 3 10 analog frequency command for reverse run 146
- Pr 3 11 analog input gain avi 100 146
- Chapter 11 description of parameter settings c200 series 147
- Frequency pr 3 07 03 09 positive negative bias mode 147
- Lower than or equal to bias 147
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control 147
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center 147
- Pr 3 03 10 147
- Pr 3 10 analog frequency command for reverse run 147
- Pr 3 11 analog input gain avi 100 147
- Chapter 11 description of parameter settings c200 series 148
- Frequency 148
- Lower than or equal to bias 148
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control 148
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center 148
- Pr 3 03 10 148
- Pr 3 07 03 09 positive negative bias mode 148
- Pr 3 10 analog frequency command for reverse run 148
- Pr 3 11 analog input gain avi 100 148
- Chapter 11 description of parameter settings c200 series 149
- Frequency 149
- Lower than or equal to bias 149
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control 149
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center 149
- Pr 3 03 10 149
- Pr 3 07 03 09 positive negative bias mode 149
- Pr 3 10 analog frequency command for reverse run 149
- Pr 3 11 analog input gain avi 100 149
- Chapter 11 description of parameter settings c200 series 150
- Frequency 150
- Lower than or equal to bias 150
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control 150
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center 150
- Pr 3 03 10 150
- Pr 3 07 03 09 positive negative bias mode 150
- Pr 3 10 analog frequency command for reverse run 150
- Pr 3 11analog input gain avi 111 150
- Chapter 11 description of parameter settings c200 series 151
- Frequency 151
- Lower than or equal to bias 151
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control 151
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center 151
- Pr 3 03 10 151
- Pr 3 07 03 09 positive negative bias mode 151
- Pr 3 10 analog frequency command for reverse run 151
- Pr03 11 analog input gain avi 111 151
- Chapter 11 description of parameter settings c200 series 152
- 5 1 2 3 4 6 7 8 9 153
- 6 1 2 3 4 5 7 9 8 153
- Chapter 11 description of parameter settings c200 series 153
- Frequency 153
- Lower than or equal to bias 153
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control 153
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center 153
- Pr 3 07 03 09 positive negative bias mode 153
- Pr 3 10 analog frequency command for reverse run 153
- Chapter 11 description of parameter settings c200 series 154
- Frequency 154
- Lower than or equal to bias 154
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control 154
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center 154
- Pr 3 07 03 09 positive negative bias mode 154
- Pr 3 10 analog frequency command for reverse run 154
- Chapter 11 description of parameter settings c200 series 155
- Frequency 155
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control 155
- No bias 1 lower than or equal to bias 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center 155
- Pr 0 13 analog positive input gain aui 100 155
- Pr 3 05 analog positive voltage input bias aui 10 pr 0 21 0 dgital keypad control and d run in fwd direction 155
- Pr 3 07 03 09 positive negative bias mode 155
- Pr 3 10 analog frequency command for reverse run 155
- Pr 3 14 analog negative input gain aui 100 155
- Chapter 11 description of parameter settings c200 series 156
- Frequency pr 3 05 analog positive voltage input bias aui 10 156
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control 156
- No bias 1 lower than or equal to bias 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center 156
- Pr 0 13 analog positive input gain aui 100 156
- Pr 0 21 0 dgital keypad control and d run in fwd direction 156
- Pr 3 07 03 09 positive negative bias mode 156
- Pr 3 10 analog frequency command for reverse run 156
- Pr 3 14 analog negative input gain aui 100 156
- Chapter 11 description of parameter settings c200 series 157
- Frequency 157
- Lower than or equal to bias 157
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control 157
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center 157
- Pr 0 21 0 digital keypad control and run in fwd direction 157
- Pr 3 05 analog positive voltage input bias aui 10 157
- Pr 3 07 03 09 positive negative bias mode 157
- Pr 3 10 analog frequency command for reverse run 157
- Pr 3 14 analog negative input gain aui 100 pr 0 13 analog positive input gain aui 100 157
- 10 9 100 111 pr 0 14 analog negative input gain aui 100 158
- Chapter 11 description of parameter settings c200 series 158
- Frequency pr 3 05 analog positive voltage input bias aui 10 158
- Lower than or equal to bias 158
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control 158
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center 158
- Pr 0 13 analog positive input gain aui 111 158
- Pr 0 21 0 digital keypad control and run in fwd direction 158
- Pr 3 07 03 09 positive negative bias mode 158
- Pr 3 10 analog frequency command for reverse run 158
- Chapter 11 description of parameter settings c200 series 159
- Refer to pr 3 07 03 09 165
- Proportion there is no setting limit for aui points 168
- Three of the negative voltage aui points can be set according to user s demand on voltage and 168
- Multi step speed parameters 169
- 01 02 08 170
- Chapter 11 description of parameter settings c200 series 170
- Multi function terminals 170
- Motor parameters 171
- Accumulative watt per second of motor in low word w sec 176
- Protection parameter 179
- Dcbus voltage 180
- Output frequency 180
- Time 230v series 180
- Current 183
- Pr 6 07 pr 6 10 183
- Pr 6 08 06 11 183
- 20 40 60 80100120140160180200 184
- Capacitor cap overheating level is set by the drive s default setting it can not be adjusted 184
- Disable 2 disable 184
- Electronic thermal characteristic for motor 1 184
- Electronic thermal characteristic for motor 2 184
- Eol1 eol2 and the motor will be in free running 184
- Factory setting 60 factory setting 60 184
- Factory setting 85 factory setting 85 184
- Heat sink over heat oh warning 184
- Hz or more 184
- It is used to prevent self cooled motor overheats under low speed user can use electronic thermal 184
- Load factor 184
- Operation time min 184
- Over heating level over heating level 184
- Pr 6 15 sets the heat sink temperature level of the drive the drive will output an overheating 184
- Prevent the motor damaged from overheating when it reaches the setting it will display 184
- Relay to limit driver s output power 184
- Settings 0 110 settings 0 110 184
- Settings 30 600 sec settings 30 600 sec 184
- Standard motor 184
- Than the default setting of the drive the drive will use the default setting level for warning output 184
- The parameter is set by the 150 of motor rated current and the setting of pr 6 14 and pr 6 28 to 184
- Warning when the temperature exceeds the setting of pr 6 15 if the setting of pr 6 15 is higher 184
- These parameters can be used with multi function output set to 35 38 for the specific requirement when the fault occurs the corresponding terminals will be activated it needs to convert binary value to decimal value to fill in pr 6 23 to pr 6 26 187
- When t 187
- Pr 6 29 setting defines how the will drive operate after ptc detection 190
- When malfunction occurs use can check the current frequency command if it happens again it will overwrite the previous record 190
- Derating curve diagram in the heavy duty pr 0 16 1 194
- Derating curve diagram in the normal duty pr 0 16 0 194
- Fc khz 194
- Pr 6 55 0 or 2 194
- Pr 6 55 1 194
- Vfd004 037cb23a vfd004 022cb21a 194
- Vfd007 075cb43a 194
- Special parameter 199
- High function pid parameters 210
- Pid freq output command limit 214
- Communication parameters 218
- Fwd rev 231
- Pid control 231
- Foc minimum stator frequency 234
- Advanced parameters 238
- No function 239
- S rad rpm 60 2 π 241
- S rad w p m n t ω 241
- Adjust pr 1 21 motor 1 or pr 1 22 motor 2 setting to make the output voltage reach motor 242
- Chapter 11 description of parameter settings c200 series 242
- Factory setting 90 factory setting 90 242
- For the spindle application the adjustment method is 242
- Gain value of flux weakening curve for motor 1 242
- Gain value of flux weakening curve for motor 2 242
- It is used to adjust the output voltage when exceeding rated frequency 242
- Monitor the output voltage 242
- Pr 1 21 and 11 22 are used to adjust the output voltage of flux weakening curve 242
- Rated voltage 242
- Settings 0 200 settings 0 200 242
- The larger number it is set the larger output voltage you will get 242
- S rad rpm 60 2 π 243
- S rad w p m n t ω 243
- S rad rpm 60 2 π 244
- S rad w p m n t ω 244
- Chapter 12 warning codes 247
- Comm error 1 247
- Warning 247
- Chapter 13 canopen overview 258
- Canopen overview 259
- Canopen protocol 259
- Canopen communication protocol 260
- Nmt network management object 260
- Pre defined connection set 260
- 251 reserved 262
- Abort domain transfer 262
- Cyclic acyclic synchronous asynchronous rtr only 262
- Data 0 data 1 data 2 data 3 data 4 data 5 data 6 data 7 262
- Initiate domain download 262
- Initiate domain upload 262
- N bytes not use e normal 0 expedited 1 s size indicated 262
- 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 262
- Pdo process data object 262
- 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 262
- 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 262
- Sdo service data objects 262
- 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 262
- Type number 262
- 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 262
- All pdo transmission data must be mapped to index via object dictionary example 263
- Chapter 13 canopen overview c200 series 263
- Content emergency error code error register 263
- Emcy emergency object 263
- 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 7 263
- Master transmits data to slave pdo 263
- Object 1001h manufacturer specific error field 263
- Please refer to chapter 13 canopen error codes for emergency definition of c200 263
- An external adapter card ekcb hub01 is used for canopen wiring establish canopen to vfd 265
- C200 connection the link is enabled by using rj45 cable the two farthest ends must be terminated 265
- Wiring for canopen 265
- With 120ω terminating resistors 265
- Canopen control mode selection 266
- Ds402 standard control mode 266
- How to control by canopen 266
- P 120 f n 266
- Bit15 defines the positive and negative sign i e index 6042 300 300 1 012ch 1 fed3h 1 fed4h 267
- Bit4 bit6 as shown in the following chart 267
- Fault reaction active 267
- Follow the same steps refer to status switching process for status word 0x6041 bit 0 to bit 6 bit 267
- Maximum frequency 267
- Not ready to switch on 267
- Operation enable 267
- Power disable 267
- Power enable 267
- Quick stop active 267
- Ready to switch on 267
- Switch on 267
- Switch on disable 267
- Switching mode 267
- The operation of ac motor drive in ds402 standard is controlled by the control word 0x6040 267
- Torque 267
- Warn bit 9 1 permanently bit 10 target frequency reached bit 11 output exceeds 267
- X00x0111 267
- X01x0001 267
- X01x0011 267
- X01x0111 267
- X0xx0000 267
- X0xx1000 267
- X0xx1111 267
- X1xx0000 267
- Xxxxxxx 267
- Delta defined control mode 268
- Basic index support by c200 269
- Canopen supporting index 269
- Chapter 13 canopen overview c200 series 269
- Chapter 13 canopen overview c200 series 270
- Chapter 13 canopen overview c200 series 271
- Bit 0 1 272
- Bit2 3 reserved 00 272
- Bit4 5 272
- Bit6 7 272
- Bit8 15 reserved 272
- C200 control index 272
- C200 index 272
- Chapter 13 canopen overview c200 series 272
- Control word 0 rw u16 272
- Delta standard mode old definition 272
- Direction forward 10 272
- Disable 272
- Disable 01 272
- E f on 272
- For example 272
- Group group member 272
- H 15 0fh 272
- H group member 1 272
- Index 2000h 0ah 200a index 2000h 0ah 200a 272
- Index index sub index 272
- Index sub definition factory setting r w size note 272
- Jog enable 272
- Number 3 r u8 272
- Other trigger 0 rw u16 bit0 272
- Parameter index corresponds to each other as following 272
- Pr 0 5 encoder slip error treatment 272
- Reverse 272
- Step acceleration deceleration 272
- Stop 10 272
- Sub index 0fh 1h 10h sub index 0fh 1h 10h 272
- Switch direction 00 272
- Vl target velocity hz 0 rw u16 272
- A the status of digital output on off o 0 r u16 274
- B multi step speed s 0 r u16 274
- C the corresponding cpu pin status of digital input d 0 r u16 274
- Chapter 13 canopen overview c200 series 274
- D the corresponding cpu pin status of digital output 0 0 r u16 274
- Delta standard mode old definition 274
- Display plc data d1043 c 0 r u16 274
- Display the temperature of capacitance in oc c 0 r u16 274
- Drive run till target speed is attained 274
- Drive stop by declaration setting 274
- E reserved 0 r u16 274
- F reserved 0 r u16 274
- Frequency stop at current frequency 274
- Index sub definition factory setting r w size note 274
- Reserved 0 r u16 274
- Speed mode torque mode 274
- The status of digital input on off i 0 r u16 274
- Ah 0 quick stop option code 2 rw s16 no 275
- Chapter 13 canopen overview c200 series 275
- Disable voltage 6007h 0 abort connection option code 2 rw s16 yes 275
- Ds402 standard 275
- Factory 275
- Fh 0 error code 0 r0 u16 yes 275
- Fh 0 vl ramp function time 10000 rw u32 1ms yes vl 275
- H 0 control word 0 rw u16 yes 275
- H 0 status word 0 r0 u16 yes 275
- H 0 vl control effort 0 ro s16 rpm yes vl 275
- H 0 vl quick stop time 1000 rw u32 1ms yes vl 275
- H 0 vl slow down time 10000 rw u32 1ms yes vl 275
- H 0 vl target velocity 0 rw s16 rpm yes vl 275
- H 0 vl velocity demand 0 ro s16 rpm yes vl 275
- Index sub definition 275
- Map mode note 275
- No action 275
- Quick stop 275
- R w size unit pdo 275
- Setting 275
- Slow down on slow down ramp and stay in quick stop 275
- Speed mode torque mode 275
- Unit must be 100ms and check if the setting is set to 0 0 disable drive function 1 slow down on slow down ramp 2 slow down on quick stop ramp 275
- Canopen fault code 277
- Canopen led function 285
- Chapter 14 plc function 286
- Introduction 287
- Ladder diagram editor wplsoft 287
- Plc overview 287
- Precautions for using plc functions 288
- Control over ac motor drive torque 289
- Function control the setting of pr 1 33 and hand on off function are disabled and has no 289
- When plc is programmed with torq command ac motor drive torque is now under plc 289
- Disable 2 plc run 3 plc stop 290
- Start up 290
- The steps for plc execution 290
- Execute stop is controlled by wpl editor 291
- I o device reference table 291
- I o extension card 291
- Input devic 291
- Output devic 291
- The control of external terminals follows the same method 291
- When switching the page from plc to plc2 it will stop plc again the motion of plc 291
- 14 program download 292
- Program input 292
- Wplsoft installation 292
- After finishing step 2 the program will be downloaded from wplsoft to the ac motor drive by 293
- Diagram will be shown as follows 293
- If you execute start monitor in the communication item during executing plc the ladder 293
- Program monitor 293
- The communication format 293
- Ladder diagram 294
- Program scan chart of the plc ladder diagram 294
- Ladder diagram 296
- Structure explanation command device 296
- The structure of ladder diagram and information 296
- The edition of plc ladder diagram 297
- Tmr t0 k10 297
- X0 x1 y1 x4 297
- Start stop and latching 300
- The common control circuit 300
- The example for designing basic program 300
- Seconds 302
- Chapter 14 plc function c200 series 303
- Example 11 output delay circuit in the following example the circuit is made up of two timers 303
- Example12 extend timer circuit in this circuit the total delay time from input x0 is close and output y1 is on n1 n2 t where t is clock period timer t11 t12 timer cycle t 303
- No matter input x0 is on or off output y4 will be delay 303
- T12 tmr kn2 303
- Plc devices function 304
- Devices functions 305
- The function of input output contacts 305
- The function of output contact y 305
- Value constant k h 305
- The function of auxiliary relay 306
- The features and functions of counter 307
- The function of timer 307
- Example 308
- Ld x0 rst c0 ld x1 cnt c0 k5 ld c0 out y0 308
- Special auxiliary relays 308
- When x0 on rst command is executed c0 reset to 0 and output contact reset to off 2 when x1 is from off to on counter will count up add 1 3 when counter c0 attains settings k5 c0 contact is on and c0 setting k5 c0 won t accept x1 trigger signal and c0 remains k5 308
- D1000 reserved 309
- D1001 plc firmware version read only 309
- D1002 program capacity read only 309
- D1003 checksum read only 309
- D1004 d1009 reserved 309
- D1010 present scan time unit 0 ms read only 309
- Special d function read r write w 309
- Special registers 309
- Communication address for plc devices 311
- Basic commands 312
- Commands 312
- Main control command 312
- Output command 312
- Rising edge falling edge detection commands of contact 312
- Rising edge falling edge output commands 312
- Timer and counter 312
- End command 313
- Explanation for the command 313
- Other command 313
- Description of the application commands 324
- Explanation for the application commands 326
- Quotient remainder 335
- Incp d0 336
- Decp d0 337
- 1 0 1 1 1 0 0 1 1 1 1 0 0 1 0 0 338
- 1 1 0 1 0 1 0 0 1 1 1 0 0 1 338
- After one rotation to the right 338
- Carry flag 338
- Rorp d10 k4 338
- Rotate to the right 338
- Upper bit lower bit 338
- D10 k4 339
- Description to drive s special commands 347
- Error and troubleshoot 352
- Chapter 15 suggestions and error corrections for standard ac motor drives 353
- Chapter 15 suggestions and errorcorrections for standard ac motor drives 353
- 1 maintenance and inspections 354
- 2 greasy dirt problem 358
- 3 fiber dust problem 359
- 4 erosion problem 360
- 5 industrial dust problem 361
- 6 wiring and installation problem 362
- 7 multi function input output terminals problem 363
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