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Toshiba TOSVERT VF-AS3 Manual

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TOSVERT VF-AS3 / S15 / MB1
EtherCAT
1. Read this manual before installing or operating. Keep this instruction manual on hand
of the end user, and make use of this manual in maintenance and inspection.
2. All information contained in this manual will be changed without notice. Please
contact your Toshiba distributor to confirm the latest information.
®
option unit Function Manual
IPE003Z
NOTICE
E6581818⑭

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Summary of Contents for Toshiba TOSVERT VF-AS3

  • Page 1 1. Read this manual before installing or operating. Keep this instruction manual on hand of the end user, and make use of this manual in maintenance and inspection. 2. All information contained in this manual will be changed without notice. Please contact your Toshiba distributor to confirm the latest information.
  • Page 2 After reading this function manual, please keep it handy for future reference. For details of its general handling, see an instruction manual attached with the option unit. - TOSVERT VF-AS3 Instruction Manual················································ E6582062 - TOSVERT VF-S15 Instruction Manual ················································ E6581611 - TOSVERT VF-MB1 Instruction Manual ···············································...
  • Page 3 E6581818⑭ Warning ▼ Shut off power when installing and wiring this option. Wait at least 15 minutes and check to make sure that the charge lamp is no longer lit. If steps above are not properly performed, this can result in electric shock or product failure.

  • Page 4: Table Of Contents

    TOSHIBA drive profile ........................22 6.3. Application Profile (CiA402) .......................23 6.4. Abort code (CiA 301) ..........................24 RUNNING BY TOSHIBA DRIVE PROFILE ....................25 7.1. TOSHIBA Drive profile ........................25 fa06 : 0x2A06 (Communication command1) .................28 7.1.1. fa23 : 0x2A23 (Communication command 2) ................30 7.1.2.
  • Page 5 E6581818⑭ 8.1.7. Object 0x6044: vl_velocity_actual_value ..................47 8.1.8. Object 0x6046: vl_velocity_min_max_amount ................47 8.1.9. Object 0x6048: vl_velocity_acceleration ..................48 8.1.10. Object 0x6049: vl_velocity_deceleration .................48 8.1.11. Object 0x604A: vl_velocity_quick_stop ...................48 8.1.12. Object 0x605A: Quick stop option code ..................49 8.1.13. Object 0x6060: Mode of operation ..................50 8.1.14.

  • Page 6: Product Version And Esi File

    VF-S15 TOSVERT_VFS15_1.xml VF-MB1 TOSVERT_VFMB1_1.xml *1: Regarding ESI (EtherCAT Slave Information) file in XML format for VF-MB1/S15/AS3, Please contact your Toshiba distributor. *2: Suffix can be checked by the labels on the product and the package. Name label Package label Suffix...

  • Page 7: Overview

    The EtherCAT interface (IPE003Z) allows the VF-MB1/S15/AS3 drive to be connected into the ® EtherCAT network. The drive is controlled by 2 drive profiles (CiA402 V3 or TOSHIBA). ® Also, VF-MB1/S15/AS3 supports BECKHOFF software TwinCAT V2.x with CODESYSY V2. ®...
  • Page 8 E6581818⑭ *2: Cyclical Communication: PDO • PDO is intended for use with the communication scanner according to CiA402. • PDO overview (default settings) RPDO (CMD) (LFRD) (None) (None) (None) (None) TPDO (ETA) (RFRD) (None) (None) (None) (None) CMD: Controlword LFRD: Vl_Target_Velocity ETA: Statusword RFRD: Vl_Velocity_Actual value The configuration means are:...

  • Page 9: Names And Functions

    E6581818⑭ 3. Names and functions The drawing below shows names and functions of main parts. 3.1. Outline Connector to the inverter LED indicator (See 3.3) L/A X1 X2 L/A Shielded female RJ45 Shielded female RJ45 Ethernet Connector Ethernet Connector Release tab (Port IN) (Port OUT) X1 means EtherCAT IN port,...

  • Page 10: Rj45 Connector Pin Layout

    E6581818⑭ 3.2. RJ45 connector pin layout ® The EtherCAT unit is equipped with two shielded RJ45 connectors. When you use VF-MB1/AS3, the shielding is connected to the drive ground. When you use VF-S15, the shielding is connected to the grounding terminal of option adapter. Use an STP (shielded twisted pair) Ethernet cable.

  • Page 11: Status Indicator

    E6581818⑭ 3.3. Status indicator 3.3.1. LED on the option The LEDs shows the present status of the network and module. X1 L/A L/A X2 The behavior of X1 L/A LED and L/A X2 LED These LEDs indicate the status of the EtherCAT IN port (X1 L/A) and OUT port (L/A X2) Color and behavior Meaning No link...

  • Page 12: Labels On The Inverter (Only For The Vf-As3)

    E6581818⑭ 3.3.2. Labels on the inverter (Only for the VF-AS3) When EtherCAT option is used, please stick the LED label and Link-status information label to VF-AS3. These labels are enclosed with the option. Link-status information label LED label 3.3.2.1. LED label Please stick the LED label for EtherCAT option to lower side of communication indicator of VF-AS3.
  • Page 13 E6581818⑭ 3.3.2.2. Link-status information label Please stick the Link-status information label to the front cover of VF-AS3. This information needs for the user when the LED of Link-status is checked. Frame size A1 Frame size A2 Frame size A3 Frame size A4 Frame size A6 Frame size A5 Frame size A8...

  • Page 14: Hardware Setup

    E6581818⑭ 4. Hardware Setup When using this product with VF-S15, sold separately VF-S15 option adapter (SBP009Z) is required. 4.1. Mounting and removing Warning ▼ The mounting/removing of option must be performed without supplying power (Turn off all input power, wait at least 15 minutes, confirm that the charge lamp of inverter is no longer lit).

  • Page 15: Parameters

    E6581818⑭ 5. Parameters 5.1. Communication parameters Set up the drive parameters as follows. It is necessary to reset the drive to update the parameter. This option doesn't operate if these parameters are not correctly set. Reset by power-on/off or set F899 to 1 after these parameters are set. VF-MB1/S15 Comm Default...

  • Page 16: Communication Parameters For Ipe003Z

    E6581818⑭ Comm Title unicati Function Description Default on No. VF-MB1/S15 : 0.0 – 3600s Note1) Acceleration time 1 0009 VF-AS3 : 0.0 – 6000s VF-MB1/S15 : 0.0 – 3600s Note1) 0010 Deceleration time 1 VF-AS3 : 0.0 – 6000s VF-MB1/S15 : 30.0 – 500.0Hz 0011 Maximum frequency Note2)
  • Page 17 E6581818⑭ Comm Title unicati Function Description Default on No. 100* 0: None 1: fd01 (Inverter status 1) 2: fd00 (Output frequency, 0.01Hz) 3: fd03 (Output current, 0.01%) 4: fd05 (Output voltage, 0.01%) 5: fc91 (Inverter alarm) 6: fd22 (PID feedback value, 0.01Hz) 7: fd06 (Input terminal status) 8: fd07 (Output terminal status) 9: fe36 (VIB input, 0.01%) / fe35 (RR input) [VF-AS3] *...
  • Page 18 *5: Acceleration time 1 (acc) and deceleration time 1 (dec) are worked when cmod isn’t “Communication option”. If cmod is “Communication option”, Acceleration and deceleration time 1 are worked by c860, c862, c863, c865. See “7.1.TOSHIBA Drive profile” for the detailed information.

  • Page 19: The Details Of The Parameter Setting

    E6581818⑭ 5.3. The details of the parameter setting Network error detection (c100 - c103) 5.3.1. ▼Display of trip information err8 (Optional unit fault 1: 0x001B): Network error stop ▼Related parameter Title Function Setting range Description The waiting time from when a network error occurs can be adjusted.

  • Page 20: Communication Object

    Object Dictionary has mainly 3 profile sets. ⚫ Communication profile area (Index 0x1000 to 0x1FFF) ⚫ TOSHIBA drive profile area (Index 0x2000 to 0x5FFF) ⚫ CiA402 drive profile area (Index 0x6000 to 0x9FFF) Setting and reading to each profile (Index) are operated from master.

  • Page 21: Rpdo: Receive Pdo

    CiA402 100: CMD（Controlword） 0x6040 ） CiA402 101: LFRD（vl_target_velocity min 0x6042 *1: Don’t use TOSHIBA and CiA402 for RPDO mapping at the same time. *2: The description and setting are only for the VF-AS3. Index Access Type Default value Description index Receive PDO mapping –...

  • Page 22: Tpdo: Transmit Pdo

    35: fd83 (IGBT temperature, degree C) Common 0x2D83 CiA402 100: ETA (Statusword) 0x6041 CiA402 101: RFRD (vl_velocity_actual_value, min 0x6044 *1: Don’t use TOSHIBA and CiA402 for TPDO mapping at the same time. *2: The description and setting are only for the VF-AS3. - 21 -...

  • Page 23: Toshiba Drive Profile

    0x06 0x00000000 Transmit PDO mapping: 6th mapped object 6.2. TOSHIBA drive profile All of the parameters are defined as Manufacturer Specific Objects. Each parameter of inverter can be assigned to each Index No. per following table. For example, the Comm.No.0x0100 (Title: f100) is defined as Index No.0x2100.

  • Page 24: Application Profile (Cia402)

    E6581818⑭ 6.3. Application Profile (CiA402) These are standardized parameters in conformance with CiA402 velocity mode. Title Index Access Type Default value Description index Mapping 0x603F 0x00 0x0000 Error code (VFS15) 0x6040 0x00 R／W 0x0000 Control Word 0x6041 0x00 0x0000 Status word 0x6042 0x00 R／W...

  • Page 25: Abort Code (Cia 301)

    E6581818⑭ 6.4. Abort code (CiA 301) The abort code in the below table are set in the error response data. Abort Code Contents 0503 0000 Toggle bit not alternated. 0504 0000 SDO protocol timed out. 0504 0001 Client/server command specifier not valid or unknown. 0504 0002 Invalid block size (block mode only).

  • Page 26: Running By Toshiba Drive Profile

    E6581818⑭ 7. Running by TOSHIBA drive profile In this chapter, it is described how to control the drive by TOSHIBA drive profile. On TOSHIBA drive profile, communication command 1 (0x2A06) and communication command 2 (0x2A23) and frequency command (0x2A07) are used as drive command.
  • Page 27 E6581818⑭ These diagrams translate as follows for the VF-MB1/S15/AS3 system: Control diagram: State- Inverter status 1 Communication command 1 (0x2D01) machine (0x2A06) Simplified diagram of speed control: Frequency reference (0x2A07) Inverter status 1 (0x2D01) Frequency reference Velocity (from Panel, Terminal) limit ≠7 function...
  • Page 28 E6581818⑭ Precaution 1 : Setting of upper limit frequency (ul) Upper limit frequency (ul) isn’t worked when c858 isn’t 0. Set c858 to the value of the upper limit speed for CiA402. <example> Upper limit frequency (ul) = 200.0Hz Motor pole number for communication (f856) = 2: 4 pole Vl_Velocity_Max_Amount (c858) = 120 * 200.0Hz / 4 pole = 6000 min In the result, set c858 to 0x1770 (6000 min Setting...

  • Page 29: Fa06 : 0X2A06 (Communication Command1)

    E6581818⑭ VF-AS3 Setting Setting Com.No. Title function Description Default from panel from com. cmod 1: Panel 5: Communcation 0003 Command mode selection 0: Terminal board - 5: Communcation option keypad option 30.0 – 500.0Hz 80.0 200.0 0011 Maximum frequency 20000 0.0 –...
  • Page 30 If cmod is “Communication option”, Acceleration and deceleration time 1 are worked by c 860, c862, c863, c865. See “7.1. ” for the detailed information. TOSHIBA Drive profile In this case, set 0(Linear) to acceleration/deceleration 1 pattern (f502: 0x2502). (S-pattern i sn’t supported.) If S-pattern is needed, use acceleration/deceleration 2 or 3.

  • Page 31: Fa23 : 0X2A23 (Communication Command 2)

    If cmod is “Communication option”, Acceleration and deceleration time 1 are worked by c 860, c862, c863, c865. See “7.1. ” for the detailed information. TOSHIBA Drive profile In this case, set 0(Linear) to acceleration/deceleration 1 pattern (f502: 0x2502).(S-pattern is n’t supported.) If S-pattern is needed, use acceleration/deceleration 2 or 3.
  • Page 32 If cmod is “Communication option”, Acceleration and deceleration time 1 are worked by c860, c862, c863, c865. See “7.1. ” for the detailed information. TOSHIBA Drive profile In this case, set 0(Linear) to acceleration/deceleration 1 pattern (f502: 0x2502). (S-pattern isn’t supported.) If S-pattern is needed, use acceleration/deceleration 2 or 3 or 4.

  • Page 33: Fa07 : 0X2A07 (Frequency Reference From Internal Option)

    E6581818⑭ fa07 : 0x2A07 (Frequency reference from internal option) 7.1.3. Frequency reference is set up by 0.01Hz unit and the hexadecimal number. For example, when "Frequency reference" is set up to 80Hz, since the minimum unit is 0.01Hz, 80 / 0.01 = 8000 = 0x1F40 fa33 : 0x2A33 (Torque command) (Only for the VF-AS3) 7.1.4.

  • Page 34: Fa51 : 0X2A51(Analog Output (Fm) Data From Communication)

    E6581818⑭ fa51 : 0x2A51(Analog output (FM) data from communication) 7.1.6. fa52 : 0x2A52(Terminal AM output data) (Only for the VF-AS3) 7.1.7. Use this function, set the Terminal FM function (fmsl) or Terminal AM function (f670) to communication data output (18 for VF-S15 / 31 for VF-AS3). It possible to send out the data specified as FM/AM analog output data (fa51/fa52) though the FM/AM analog output terminal.

  • Page 35: Fd01 : 0X2D01 (Inverter Operating Status 1 (Real Time))

    Acceleration time 1 (acc) and deceleration time 1 (dec) are worked when cmod isn’t “Communication (*1): option”. If cmod is “Communication option”, Acceleration and deceleration time 1 are worked by c860, c862, c863, c865. See “7.1. ” for the detailed information. TOSHIBA Drive profile - 34 -...
  • Page 36 Acceleration time 1 (acc) and deceleration time 1 (dec) are worked when cmod isn’t “Communication (*1): option”. If cmod is “Communication option”, Acceleration and deceleration time 1 are worked by c860, c862, c863, c865. See “7.1. ” for the detailed information. TOSHIBA Drive profile - 35 -...

  • Page 37: Fd00 : 0X2D00 (Output Frequency (Real Time))

    E6581818⑭ 7.1.13. fd00 : 0x2D00 (Output frequency (real time)) The current output frequency is read into 0.01Hz of units and by the hexadecimal number. For example, when the output frequency is 80Hz, 0x1F40 (hexadecimal number) are read. Since the minimum unit is 0.01%, 0x1F40 (Hex.) = 8000(Dec.) * 0.01 = 80 (Hz) Also about the following parameters, these are the same as this.

  • Page 38: Fe35:0X2E35, Fe36: 0X2E36, Fe37: 0X2E37 (Monitoring Of The Analog Input)

    E6581818⑭ 7.1.15. fe35:0x2E35, fe36: 0x2E36, fe37: 0x2E37 (Monitoring of the analog input) VF-MB1/S15 VIA input value: "Communication Number fe35" VIB input value: "Communication Number fe36" VIC input value: "Communication Number fe37" These monitors can also be used as A/D converters irrespective of the inverter's control. VIA / VIC input value monitor is capable of reading the data from external devices in a range of 0.00 to 100.00% (unsigned data: 0x0000 to 0x2710).

  • Page 39: Fc91 :0X2C91 (Alarm Code)

    E6581818⑭ 7.1.18. fc91 :0x2C91 (Alarm code) VF-S15/MB1 Remarks Function (Code displayed on the panel) c flicking Over-current alarm Normal Alarming l flicking Inverter over load alarm Normal Alarming l flicking Motor over load alarm Normal Alarming h flicking Over heat alarm Normal Alarming p flicking...

  • Page 40: Fd06 : 0X2D06 (Input Tb Status)

    E6581818⑭ 7.1.19. fd06 : 0x2D06 (Input TB Status) VF-S15/MB1 TB Name Function (Parameter) Input terminal function selection 1 (f111) Input terminal function selection 2 (f112) Input terminal function selection 3 (f113) Input terminal function selection 4 (f114) Input terminal function selection 5 (f115) Input terminal function selection 6 (f116) VIB*1 Input terminal function selection 7 (f117)

  • Page 41: Fd07 : 0X2D07 (Output Tb Status)

    E6581818⑭ 7.1.20. fd07 : 0x2D07 (Output TB Status) VF-S15/MB1 TB Name Function (Parameter) RY-RC Output terminal function selection 1A (f130) Output TB Function select 2A (f131) Output TB Function select 3 (f132) 3 - 15 (Undefined) Note: The bit described "Undefined" is unstable. Do not use the bit for the judgment. VF-AS3 TB Name Function (Parameter)

  • Page 42: Running By Cia402 Drive Profile

    In this chapter, it is described how to control the drive by CiA402 (IEC61800-7) drive profile. On CiA402 drive profile, Controlword (0x6040) and vl_target_velocity (0x6042) are used as drive command. When CiA402 drive profile is used, TOSHIBA drive profile (communication command 1 (0x2A06) and communication command 2 (0x2A23) and frequency command (0x2A07) etc.) can’t be used at the same time.

  • Page 43: Object 0X6040: Controlword

    E6581818⑭ 8.1.1. Object 0x6040: Controlword ms = manufacturer-specific (bit11: 0 = Forward direction asked, 1 = Reverse direction asked) r = reserved oms = operation mode specific h = halt fr = fault reset eo = enable operation qs = quick stop ev = enable voltage so = switch on 8.1.2.
  • Page 44 E6581818⑭ Status bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 Status Word Switch Quick Voltage Fault Operation Switched Ready to stop enabled enabled switch on disabled   1 - Not ready to switch on ...

  • Page 45: Cia402 State Chart

    E6581818⑭ 8.1.3. CiA402 State Chart From any state Fault reaction active START SW: xxxx xxxx x0xx 1111 CW: Controlword (6040) SW: Statusword (6041) Not Ready to switch on Fault SW: xxxx xxxx x0xx 0000 SW: xxxx xxxx x0xx 1000 (CW: xxxx xxxx 1xxx xxxx) Switch on disabled SW: xxxx xxxx x1xx 0000 (CW: xxxx xxxx 0xxx x01x)

  • Page 46: Information Of Cia402 State

    E6581818⑭ 8.1.4. Information of CiA402 State Description of States Each state represents an internal reaction by the drive. This chart will change depending on whether the control word is sent “CMD” or an event occurs (a detected fault, for example). The drive state can be identified by the value of the status word “ETA.”...
  • Page 47 E6581818⑭ State Drive internal reaction 7 - Fault reaction active Transient state during which the drive performs an action appropriate to the type of detected fault. The drive function is activated or deactivated according to parameter f603 when detected the emergency stop. 8 - Fault Drive has detected a fault.

  • Page 48: Object 0X6042: Vl_Target_Velocity

    E6581818⑭ 8.1.5. Object 0x6042: vl_target_velocity This object shall indicate the required velocity of the system. The value is given in revolutions per minute (min ). Positive values forward direction and negative values indicate reverse direction. At changing to “Operation enable” state, this target velocity is cleared. So set this target velocity data after changed the state to “Operation enable.”...

  • Page 49: Object 0X6048: Vl_Velocity_Acceleration

    E6581818⑭ 8.1.9. Object 0x6048: vl_velocity_acceleration This object indicates the configured delta speed and delta time of the slope of the acceleration ramp. VF-MB1/S15 Velocity Acceleration Delta Speed : 225 to 30,000 min Velocity Acceleration Delta Time : 1 to 3,600 s VF-AS3 Velocity Acceleration Delta Speed : 225 to 32,700 min Velocity Acceleration Delta Time : 1 to 6,000 s...

  • Page 50: Object 0X605A: Quick Stop Option Code

    E6581818⑭ 8.1.12. Object 0x605A: Quick stop option code This object shall indicate what action is performed when the quick stop function is executed. The slow down ramp is the deceleration value of the used mode of operations. Value Definition -32768 to -1 No function Disable drive function Slow down on slow down ramp and transit into Switch On Disabled...

  • Page 51: Object 0X6060: Mode Of Operation

    E6581818⑭ 8.1.13. Object 0x6060: Mode of operation The object shall indicate the requested operation mode. This module supports the “vl (= 2)” (velocity mode) only. NOTE: This object shows only the value of the requested operation mode, the actual operation mode of the PDS* is reflected in the object modes of operation display. *PDS: Power drive system Value Definition...

  • Page 52: Object 603F: Error Code

    E6581818⑭ 8.1.16. Object 603F: Error Code Below table describes the relations of the error code and drive error. Drive Drive Error Meaning error error Drive condition code code name 0x0000 No error 0x00 0x0E Motor overload err2 0x15 Main unit RAM fault err3 0x16 Main unit ROM fault...
  • Page 53 E6581818⑭ eph1 Ground fault 0x3130 Phase failure 0x08 epho 0x09 Output phase failure 0x3310 Output over-voltage 0x0F Dynamic braking resistor overload trip e-39 0x47 Auto-tuning error (PM motor) e-42 Cooling fan fault [VF-AS3] 0x4130 Ambient temperature 0x4A 0x0D Inverter overload Excess temperature 0x4210 0x10...

  • Page 54: Ethercat State Machine (Esm)

    E6581818⑭ 9. EtherCAT State Machine (ESM) ESM Diagram The EtherCAT State machine coordinates the master and slave applications at start up and during operation. State changes are typically initiated requests of the master. They are acknowledged by the local application after the associated operations have been executed.
  • Page 55 E6581818⑭ State transitions State transition Local management service Value Start Mailbox Communication 0x02 Stop Mailbox Communication 0x01 Start Input Update 0x04 Stop Input Update 0x02 Start Output Update 0x08 Stop Output Update 0x04 Stop Output Update and Stop Input Update 0x02 Stop Input Update, Stop Mailbox Communication 0x01...

  • Page 56: Example:vf-Mb1 With Twincat

    The ESI file must be integrated into the system on the master controller. For example (directory pass): C:¥TwinCAT¥Io¥EtherCAT As for acquisition of the ESI file, please contact your Toshiba distributor. 10.4. VF-MB1 configuration Set the configuration parameter when the Drive is controlled by CiA402 drive profile.

  • Page 57: System Manager: Declare Your Computer On Ethernet Network

    E6581818⑭ 10.5. System Manager: Declare your computer on Ethernet network ® ® Start TwinCAT system-manager Select Options -> “Show Real Time Ethernet Compatible devices” Select your Computer Ethernet board, and “Install”.  Enable it. - 56 -...

  • Page 58: System Manager: Install The Master

    E6581818⑭ 10.6. System Manager: Install the master ® In this example we use the computer to run TwinCAT and PLC runtime as Mater.  Select “Choose Target”  Select “Search (Ethernet)”  Start the “Broadcast Search”  Select your Master in the Host Name list (your computer in this example) - 57 -...
  • Page 59 E6581818⑭  Check that you are in “config mode” - 58 -...

  • Page 60: System Manager - Install The Slave: Mb1 In "Plc- Configuration

    E6581818⑭ 10.7. System Manager – Install the slave: MB1 in “PLC- configuration”  Select the I/O Devices -> Scan Devices  Choose the “OK.”  Check the “Device 1[EtherCAT]” -> Choose the “OK.”  Choose the “Yes”.  Choose the “Yes.” ...

  • Page 61: Plc - Control: Initialization

    E6581818⑭ 10.8. PLC – Control: initialization Start TwinCAT PLC control ® software File -> new ST: Structured language Select; Resources -> Library Manager Add EtherCAT libraries Add TcEtherCAT.lib All EtherCAT libraries are added: - 60 -...

  • Page 62: Plc - Control: Declare The Variables

    E6581818⑭ 10.9. PLC – Control: Declare the variables Select Global_Variables Create the Master Global_Variables for MB1 as below. Copy/paste the variables: VAR_GLOBAL MB1_State AT %I*:WORD; PLC_state AT %I*:UINT; MB1_TPDO_Input1_Status_Word AT %I*:WORD; MB1_TPDO_Input2_Control_Effort AT %I*:WORD; MB1_TPDO_Input3 AT %I*:WORD; MB1_TPDO_Input4 AT %I*:WORD; MB1_TPDO_Input5 AT %I*:WORD;...

  • Page 63: System Manager - Append Plc Project

    E6581818⑭ Add 1 instruction minimum in POUs before rebuild; Select: Project -> Rebuild All Check the compilation result without error. This action creates file in: C:¥TwinCAT¥Plc As example, create: TSB_MB1_sample.tpy System Manager – Append PLC Project 10.10. In System Manager software, realize the link between the Master and the slave. Creation of the links between “PLC –...
  • Page 64 E6581818⑭ Example for “MB1_State” Links to create PLC – Configuration I/O - Configuration Inputs MB1_State State Inputs PLC_State DevState (with Device1) Inputs MB1_TPDO_input1_Status_Word Status word Inputs MB1_TPDO_input2_Control_Effort Control effort Inputs MB1_TPDO_input3 Available for other parameter Inputs MB1_TPDO_input4 Available for other parameter Inputs MB1_TPDO_input5 Available for other parameter...

  • Page 65: Plc - Control: New Compilation

    E6581818⑭ 10.11. PLC - Control: new compilation Select: Project -> Rebuild All This action updates the information. 10.12. System Manager: Activate configuration Select: Actions -> Activate Configurations 10.13. PLC - Control: Run Select: Online -> login Select: Online -> Run The PLC and the EtherCAT fieldbus are now running.

  • Page 66: Plc - Control: Add A Library For Other Services

    E6581818⑭ 10.15. PLC - Control: add a library for other services Install the library: TcEtherCAT.lib Example for exchanges with SDO - 65 -...

  • Page 67: Method Of Add The Pdos

    E6581818⑭ Example for exchanges with ESM states 10.16. Method of add the PDOs Select the “Process Data” tag Select the “PDO List” (Inputs or Outputs) Select the “PDO content” Right click and select the “Insert…” - 66 -...
  • Page 68 E6581818⑭ Set the Name of PDO Set the Index of PDO Set the Sub Index of PDO Set the Data Type of PDO - 67E -...
  • Page 69 ©Toshiba Schneider Inverter Corporation 2011...

This manual is also suitable for:

Tosvert vf-s15Tosvert vf-mb1

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