Hitachi SJ2-CO Instruction Manual Download

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CHAPTER5 CANOPEN COMMUNICATION FUNCTION

5.1.2 PDO(Process Data Object)

The real-time data transfer is using the PDOs.

There are two kinds of PDO transmission modes. One is a synchronization (SYNC), the other is

asynchronization message (Remotely Request, Event Driven, Timer Driven).

These PDO services use the push / pull models. The PDOs have Transmit-PDOs (maximum data size is 8

bytes) and Receive-PDOs (maximum data size is 8 bytes). These data type and these mapping are

defined by the Object Dictionary.

The following table is the PDO parameter indexes, the data types and the objects.

Index

Type

Object

Notes

1400h

20h

receive PDO communication parameter

1401h

20h

receive PDO communication parameter

1402h

20h

receive PDO communication parameter

1403h

20h

receive PDO communication parameter

1600h

21h

receive PDO mapping parameter

1601h

21h

receive PDO mapping parameter

1602h

21h

receive PDO mapping parameter

1603h

21h

receive PDO mapping parameter

1800h

20h

transmit PDO communication parameter

1801h

20h

transmit PDO communication parameter

1802h

10h

transmit PDO communication parameter

1803h

20h

transmit PDO communication parameter

1A00h

21h

transmit PDO mapping parameter

1A01h

21h

transmit PDO mapping parameter

1A02h

21h

transmit PDO mapping parameter

1A03h

21h

transmit PDO mapping parameter

Data type “20h” is a record, which defines the PDO communication parameter, and it is of the following

format:

Sub-Index

Type

Meaning

Notes

UNSIGNED8

Number of supported entries in the
record

Default: 2

UNSIGNED32

COB-ID

UNSIGNED8

transmit type

Default: 255

UNSIGNED16

inhibit time

TPDO only

UNSIGNED8

CMS priority group

Default: 3

Data type “21h” is a record, which defines the PDO mapping parameter and it is of the following

format:

Sub-Index

Type

Meaning

Notes

UNSIGNED8

Number of supported entries in the
record

Default: 2

1h, 2h

UNSIGNED32

Structure  consisting  of  mapped
object  index  (16  bit),  sub-index  (8
bits) and object data length in bits.
For  example  “20010010h”  defines
object  “2001h”,  sub-index  “0h”,  and
data length of16 bits (=word).

Summary of Contents for SJ2-CO

Page 1: ...ce Make sure to deliver this manual to the end user Table of Contents Chapter1 Introduction 1 Chapter2 Mounting method of option 4 Chapter3 Wiring Connecting 7 Chapter4 Setting 9 Chapter5 CANopen communication function 11 Chapter6 Countermeasure for abnormality 21 Chapter7 Communication Objects Lists 23 Chapter8 Specifications 30 Chapter9 Contact information 31 SJ200 2 L200 2 SERIES SJ2 CO CANopen...

Page 2: ...ct inspection and maintenance Make sure to reach this manual to the end user About treatment of this manual 1 Please consent that mentioned items of this manual may be change without permission 2 Keep this manual carefully not to lose because it can not be reissued 3 All right reserved 4 Please contact the Hitachi inverter dealer from whom you purchased the unit if you have some doubts about spell...

Page 3: ...minor to moderate injury or serous damage to the product The situation described in may if not avoided lead to serious results Important safety measures are described in CAUTION as well as WARNING so be sure observe them Notes are described in this manual in Note Carefully read the contents and follow them exactly CAUTION In all the illustrations in this manual covers and safely device are occasio...

Page 4: ...hat only qualified persons will perform maintenance inspection and part replacement Before starting the work remove metallic objects from your person wristwatch bracelet etc Be sure to use tools protected with insulation Otherwise there is a danger of electric shock and or injury Note Never modify the unit Otherwise there is a danger of electric shock and or injury CAUTION Installation Be sure not...

Page 5: ...s and its condition etc Question parts and their contents etc In order to shorten impossible working time standing spare unit is recommended 1 2 2 Warranty of the product This product is guaranteed one year after the purchase But the next case is toll repair even if within warranty period 1 In case caused by operating mistake and incorrect repair and modification 2 Trouble caused by reasons except...

Page 6: ...and Names of Parts Power supply POW Inverter Status RUN Bus ready in CANopen this LED always green CAN bus Interface Inverter condition mode MOD CANbus Status CAN Baud rate Node ID setting See 4 1 2 Figure 1 1 Appearance of SJ2 CO LED display ...

Page 7: ...ain power supply is OFF Green Run Inverter Status Stop Stop Normal Inverter condition mode MOD See 6 4 LED display and Countermeasure CAN condition status CAN See 6 4 LED display and Countermeasure Green ON CAN bus power supply DC 24V Internal power supply Blank OFF MADE IN JAPAN SJ2 CO MFG No 67A T25724B6 0001 Hitachi Industrial Equipment Systems Co Ltd NEXXXXX model name Manufacturing No SJ200 L...

Page 8: ...e shown as bellow Power input cable Motor output cable Input terminal cable Output terminal cable Analog input cable Analog output cable etc Because the following cables cannot be connected after the instllation of SJ2 CO Figure 2 1 describes how to mount the SJ2 CO to the SJ200 2 Figure 2 2 describes how to mount the SJ2 CO to the L200 2 Figure 2 3 describes how to remove the SJ2 CO to the SJ200 ...

Page 9: ...ected to the bottom side of the SJ2 CO SJ2 MF Specifications Label See 1 5 Specifications Label Figure 2 2 Installation of SJ2 CO L200 2 SJ2 CO SJ2 MF Note Please move the OPE 485 dip switch bottom position labeled OPE Figure 2 3 Remove of SJ2 CO SJ200 2 SJ2 CO 1 SJ2 MF ...

Page 10: ...OUNTING METHOD OF OPTION 6 SJ2 CCV Optional HITACHI OPE SRmini Figure 2 4 Installation of option unit SJ200 2 SJ2 CO SJ2 CCV SJ200 2 SJ2 CO SJ2 CCV SJ2 CCV SJ2 CCV Specifications Label See 1 5 Specifications Label ...

Page 11: ...Please don t make a short circuit between PIN 1 Black and 5 Red 3 2 Communication cable for CANopen Use the connector which conforms to CANopen specifications or five conductor cable and also make sure that cable connector and Network distance conform to CANopen specifications Baud rate kbps Maximum Bus length m 1000 1M 25 800 50 500 100 250 250 125 500 50 1000 20 2500 10 5000 Wiring of CANopen Co...

Page 12: ...terminal which would be allocated FRS RS and or EXT function c Setting command P045 to except 02 In this setting the inverter is tripped deceleration or free run stop when it detects a communication fault itself Factory initialization of command P045 is trip after deceleration stop code 01 See 4 2 Setting of the Inverter 6 Basic components for construction of CANopen application are shown bellow R...

Page 13: ...s Dip switch Setting Note Baud rate kbps Dip switch Setting Note 10 250 25 500 50 For bus length greater than 1km bridge or repeater device may be needed 800 125 1000 4 1 2 Setting method of CANopen Node Figure left describes the direction of Dip Switches See below ON 1 OFF 0 Bit increases from right to left switches Figure formula below NODE ID NA64 26 NA32 25 NA16 24 NA08 23 NA04 22 NA02 21 NA01...

Page 14: ...ation stop 02 ignore 03 Free RUN 04 deceleration stop 01 It is effective when Object 6007 setting is 3 P049 Motor Poles setting for revolution per minutes 0 to 38 It is possible to set only even number Setting value 0 monitoring unit is Hz Setting value except 0 monitoring unit is min 1 0 Note As P049 Command value is setting 0 unit of Index 6042 6043 6044 6046 6048 1 6049 1 is Hz Note CANopen Int...

Page 15: ...h Out of memory 0601 0000h Unsupported access to an object 0601 0001h Attempt to read a write only object 0601 0002h Attempt to write a read only object 0602 0000h Object does not exist in the object dictionary 0604 0041h Object cannot be mapped to the PDO 0604 0042h The number and length of the objects to be mapped would exceed PDO length 0604 0043h General parameter incompatibility reason 0606 0...

Page 16: ...ve PDO mapping parameter 1800h 20h 1st transmit PDO communication parameter 1801h 20h 2nd transmit PDO communication parameter 1802h 10h 3rd transmit PDO communication parameter 1803h 20h 4th transmit PDO communication parameter 1A00h 21h 1st transmit PDO mapping parameter 1A01h 21h 2nd transmit PDO mapping parameter 1A02h 21h 3rd transmit PDO mapping parameter 1A03h 21h 4th transmit PDO mapping p...

Page 17: ...cceleration Ramp 6049h vl_velocity_deceleration Ramp 6060h modes_of_operation Integer8 6061h modes_of_operation_display Integer8 5 1 5 abort_connection_option_code Index 6007h When communications between CANopen interface option and HOST cannot be active inverter actions will decide following this object setting value Action Notes 0 No action Same as P045 setting value 02 1 No action Same as P045 ...

Page 18: ...RFG Usr ref Mode Specific 7 Reset Fault raising edge Mandatory 8 Halt Mode Specific 9 Undefined Reserved 10 Undefined Reserved 11 RDY Function Enable Manufacturer Specific 12 NetRef Manufacturer Specific 13 NetCtrl Manufacturer Specific 14 Move forward Manufacturer Specific 15 Move reverse Manufacturer Specific To use setting frequency from CANopen please set bit NetRef bit 12 An inverter paramete...

Page 19: ...Remote Mandatory 10 Target reached Mandatory 11 Internal Limit Active Index 6046 influences this bit Mandatory 12 reserved reserved Mode Specific 13 reserved reserved Mode Specific 14 Moving forwards 15 Moving backwards Bitmapping of Status word Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0 Inverter Switch On Disable Quick Stop Fault Operation Enable Switch On Ready to Switch On Not Ready to Switch On 0 X 0...

Page 20: ... 0 X 7 9 10 12 Quick Stop 0 X 0 1 X 7 10 11 Disable Operation 0 0 1 1 1 5 Enable Operation 0 1 1 1 1 4 16 Fault Reset 0 1 X X X X 15 X means that any value is allowed Power Power Power Power Enabled Enabled Enabled Enabled Power Power Power Power Disabled Disabled Disabled Disabled Start up Not Ready to Switch On Switch On Disabled Ready to Switch On Fault Reaction Active Fault Switched On Operati...

Page 21: ...1 0 RFG enable STW bit4 0 1 HALT STW bit8 Limiter A061 A062 vl_velocity_demand 6043 Conv RPM time speed Cal vl_velocity_effort 6044 If you use RFG Please set parameter shown below B021 Overload restriction operation mode 00 OFF B130 Over Voltage LADSTOP enable 00 OFF B140 Over current trip suppression 00 OFF In purpose of setting parameter above these parameters are automatically decelerated outpu...

Page 22: ...verter parameter output frequency monitor d001 unit min 1 Minimum unit 1dig 1min 1 5 1 12 vl_velocity_effort Index 6044h The vl velocity effort is the velocity at the motor spindle or load scaled to the unit of the vl target velocity unit min 1 Minimum unit 1dig 1min 1 5 1 13 vl_velocity_min_max_amount Index 6046h The vl velocity min max amount index is composed of the vl velocity min Sub index1 a...

Page 23: ...vl_velocity_acceleration delta_speed delta_time This Index is effective only RFG mode velocity time delta time delta speed 5 1 15 vl_velocity_deceleration Index 6049h The vl velocity deceleration index specifies the slope of deceleration ramp for RFG 32bit length It is generated as the quotient of the delta speed Sub index1 and delta time sub index2 sub index Sub index1 delta speed unit min 1 Mini...

Page 24: ...on supported only Velocity Mode These objects are always stored 2 Velocity mode 5 2 Keypad display OPTIONAL OPERATOR OPE SRMINI In status of initializing CANopen option the keypad shows following display Note This display appears during initializing which is follow conditions Initializing with b084 Trip reset CANopen option initializing when power is lunched RS terminal is lunched up Occurring un ...

Page 25: ... chapter 4 Explanation of function 6 3 Countermeasure for a trip state The table below only corresponds to additional trip codes with regard to the other countermeasures refer to Inverter instruction manual chapter 4 Explanation of function Trip code Name of trip Cause Conformation Countermeasure Baud rate is different Check Baud rate Install correct Baud rate and then reset the power supply Wirin...

Page 26: ...ve the trip causes When initializing the inverter starts up automatically the BOOTUP process after the initializing Mandatory MOD OFF Power off Mandatory Green ON OPERATIONAL Mandatory Green single flash STOPPED Mandatory Green Blinking PRE OPERATINAL Mandatory OFF no error Mandatory Red single flash Warning limit reached Any Flaming error Mandatory CAN Red double flash Error Control Event The Gua...

Page 27: ...h control word UNSIGNED16 6041h status word UNSIGNED16 6042h vl_target_velocity INTEGER16 6043h vl_velocity_demand INTEGER16 6044h vl_control_effort INTEGER16 6046h vl_velocity_min_max_amount UNSIGNED32 0 Number of entries 2 INTEGER8 1 vl_velocity_min_amount UNSIGNED16 2 vl_velocity_max_amount UNSIGNED16 6048h vl_velocity_acceleration Ramp 0 Number of entries 2 INTEGER8 1 delta_speed UNSIGNED16 2 ...

Page 28: ... trip time monitor 2 0x2081 d081 sub 0 Number of element 2 sub 1 Factor sub 2 Output frequency in TRIP 0x20A1 sub 0 Number of element 3 sub 1 Factor sub 2 Output current in TRIP sub 3 DC bus voltage in TRIP 0x20B1 sub 0 Number of element 2 sub 1 Factor sub 2 RUN time 0x20C1 sub 0 Number of element 2 sub 1 Factor sub 2 ON time 0x2202 F002 1st acceleration time 4 0 01sec 0x2302 F202 2nd acceleration...

Page 29: ... 0 1Hz 0x2421 A021 Multi speed1 2 0 1Hz 0x2422 A022 Multi speed2 2 0 1Hz 0x2423 A023 Multi speed3 2 0 1Hz 0x2424 A024 Multi speed4 2 0 1Hz 0x2425 A025 Multi speed5 2 0 1Hz 0x2426 A026 Multi speed6 2 0 1Hz 0x2427 A027 Multi speed7 2 0 1Hz 0x2428 A028 Multi speed8 2 0 1Hz 0x2429 A029 Multi speed9 2 0 1Hz 0x2430 A030 Multi speed10 2 0 1Hz 0x2431 A031 Multi speed11 2 0 1Hz 0x2432 A032 Multi speed12 2 ...

Page 30: ...1 2 0 1Hz 0x2465 A065 Jump frequency2 2 0 1Hz 0x2466 A066 Jump frequency Width 2 2 0 1Hz 0x2467 A067 Jump frequency3 2 0 1Hz 0x2468 A068 Jump frequency Width 3 2 0 1Hz 0x2471 A071 PID enable 1 0x2472 A072 PID P gain 1 0 1 0x2473 A073 PID I gain 2 0 1 0x2474 A074 PID D gain 2 0 01 0x2475 A075 PID scale 2 0 01 0x2476 A076 PID feedback selection 1 0x2477 A077 Reverse PID 1 0x2478 A078 PID Output limi...

Page 31: ... b212 Electronic thermal level 2nd motor 2 0 01 0x2613 b013 1st electronic thermal characteristic selection 1 0x2713 b213 2nd electronic thermal characteristic selection 1 0x2621 b021 Overload restriction operation mode 1 0x2721 b221 Overload restriction operation mode 2nd motor 1 0x2622 b022 Overload restriction setting 2 0 01 0x2722 b222 Overload restriction setting 2nd motor 2 0 01 0x2623 b023 ...

Page 32: ...inal 6 function setting 2nd motor 1 1 0x2811 C011 Intelligent terminal 1 active state 1 0x2812 C012 Intelligent terminal 2 active state 1 0x2813 C013 Intelligent terminal 3 active state 1 0x2814 C014 Intelligent terminal 4 active state 1 0x2815 C015 Intelligent terminal 5 active state 1 0x2816 C016 Intelligent terminal 6 active state 1 0x2821 C021 Intelligent output 11 setting 1 0x2822 C022 Intell...

Page 33: ...4 2nd motor pole setting 1 0x2A06 H006 1st stabilizing factor 2 1 0x2B06 H206 2nd stabilizing factor 2 1 0x2A07 H007 1st motor voltage select 1 0x2B07 H207 2nd motor voltage select 1 0x2F44 P044 Timer setting of communication timeout Whilst running 2 0 1sec 0x2F45 P045 Inverter action When communication error 1 0x2F46 P046 Polled I O OUTPUT Instance number 1 0x2F47 P047 Polled I O INPUT Instance n...

Page 34: ...IME No Emergency Object EMCY Yes Network Management Object Yes Number of PDO s 4Rx 4Tx PDO Modes Sync cyclic Sync acyclic PDO Linking No PDO Mapping Variable Number of SDO s 1 Server 0 Client Emergency Message Yes Pre Defined Connection Set No 10kbps 20kbps 50kbps 125kbps 250kbps 500kbps Supported baud rates 800kbps 1Mbps Module Status LED MOD Supported LED CANopen Status LED CAN Network Connector...

Page 35: ...chi Industrial Equipment System Co Ltd International Sales Department ASK Bldg 3 kanda Neribei cho Chiyodaku Tokyo 101 0022 Japan Phone 81 3 4345 6063 Fax 81 3 4345 6913 Hitachi Asia Ltd 16 Collyer Quay 20 00 Hitachi Tower Tarrytown NY 10591 U S A Phone 1 914 631 0600 Fax 1 914 631 3672 Hitachi Industrial Equipment System Co Ltd Narashino Division 1 1 Higashi Narashino 7 chome Narashino shi chiba ...

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