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Mitsubishi Electric FR-A7NCA Instruction Manual

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INVERTER
Plug-in option
FR-A7NCA

INSTRUCTION MANUAL

communication function

PRE-OPERATION INSTRUCTIONS
INSTALLATION
INVERTER SETTING
FUNCTIONS
CANopen DEFINITIONS
OBJECT DICTIONARY
TROUBLESHOOTING
1
2
3
WIRING
4
5
6
7
SERVICE
8
9

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Summary of Contents for Mitsubishi Electric FR-A7NCA

  • Page 1: Instruction Manual

    INVERTER PRE-OPERATION INSTRUCTIONS Plug-in option FR-A7NCA INSTALLATION INSTRUCTION MANUAL WIRING INVERTER SETTING communication function FUNCTIONS CANopen DEFINITIONS SERVICE OBJECT DICTIONARY TROUBLESHOOTING...
  • Page 2 Thank you for choosing this Mitsubishi Inverter plug-in option. SAFETY INSTRUCTIONS This instruction manual gives handling information and precautions for use of this equipment. Incorrect handling might cause an unexpected fault. Before using the equipment, please 1. Electric Shock Prevention read this manual carefully to use the equipment to its optimum.
  • Page 3 2. Injury Prevention 3) Usage WARNING CAUTION • Do not modify the equipment. • Apply only the voltage specified in the instruction manual to • Do not perform parts removal which is not instructed in this each terminal. Otherwise, burst, damage, etc. may occur. •...

  • Page 4: Table Of Contents

     CONTENTS  PRE-OPERATION INSTRUCTIONS Unpacking and Product Confirmation .....................1 1.1.1 Packing confirmation ............................3 1.1.2 Parts ................................4 STATUS LED (operation status indication) ..................5 Specifications.............................6 INSTALLATION Pre-Installation Instructions ......................7 Installation of the Communication Option LED Display Cover .............7 Installation Procedure ........................8 Node Address Setting ........................10 WIRING Connection to Network........................11...
  • Page 5 4.2.1 CANopen address (Pr. 347) ......................... 15 4.2.2 CANopen baud rate (Pr. 348)........................16 Operation Mode Setting ........................17 4.3.1 Operation mode indication..........................17 4.3.2 Operation mode switching and communication startup mode (Pr. 79, Pr. 340) ...........18 Operation and Speed Command Source (Pr. 338, Pr. 339, Pr. 550) ..........21 4.4.1 Communication EEPROM write selection (Pr.
  • Page 6 SERVICE Process Data Object (PDO)......................40 7.1.1 Receive PDO..............................40 7.1.2 Transmit PDO............................... 44 Service Data Object (SDO) ......................48 7.2.1 SDO Upload (SDO read) ..........................48 7.2.2 SDO Download (SDO write) ......................... 50 7.2.3 SDO Abort Code (SDO error code) ......................52 SYNC Object.............................54 7.3.1 Bus Synchronization and Sampling......................
  • Page 7 8.2.3 (Index 1002h) Manufacturer Status Register....................73 8.2.4 (Index 1005h) COB-ID SYNC........................74 8.2.5 (Index 1008h) Manufacturer Device Name....................75 8.2.6 (Index 100Ch) Guard Time........................... 75 8.2.7 (Index 100Dh) Life Time Factor........................76 8.2.8 (Index 1010h) store parameters ........................77 8.2.9 (Index 1011h) restore default parameters ....................
  • Page 8 8.3.11 (Index 4002h) Set Frequency ........................105 8.3.12 (Index 4003h) Set Speed..........................106 8.3.13 (Index 4010h) Control Input Command (w) ....................107 8.3.14 (Index 4011h) Inverter Status (r) ........................ 108 8.3.15 (Index 4012h) Set Frequency (w) / Set Speed (w) ..................109 8.3.16 (Index 4013h) Output Frequency (r) / Running Speed (r)................

  • Page 9: Pre-Operation Instructions

    PRE-OPERATION INSTRUCTIONS Unpacking and Product Confirmation Take the plug-in option out of the package, check the unit name, and confirm that the product is as you ordered and intact. This product is a plug-in option for the FR-A700 series inverter assembled in and after July 2006. Check the SERIAL number printed on the rating plate or the Serial number sticker of the inverter or package and check that the first three digits of the SERIAL number is the number in the table next page.
  • Page 10 PRE-OPERATION INSTRUCTIONS (2) For the FR-A740-00770 to 12120-EC Check the SERIAL indicated on the Serial number sticker shown below. Serial number sticker example Symbol Year Month SERIAL FR-CA70-EC Control unit type SERIAL (Serial No.) The SERIAL consists of 1 version symbol, 2 numeric characters or 1 numeric character and 1 alphabet letter indicating year and month, and 3 numeric characters indicating control number.

  • Page 11: Packing Confirmation

    PRE-OPERATION INSTRUCTIONS 1.1.1 Packing confirmation Check the enclosed items. Mounting screw (M3 × 6mm) Plug-in option Hex-head screw for option ......... 1 ....2 (Refer to page 8.) mounting (5.5mm) ....1 (Refer to page 8.) 5.5mm Communication option LED Terminal block CANopen is a registered trademark of CiA (CAN in display cover...

  • Page 12: Parts

    Front view Rear view CAN_GND LED1 CAN_L Mounting STATUS LED CAN_SHLD hole FR-A7NCA CAN_H CAN_V+ Mounting Connector hole Connect to the inverter Mounting hole Node address switch option connector. Set the node address.

  • Page 13: Status Led (Operation Status Indication)

    CAN_GND LED1 STATUS LED CAN_L STATUS LED Green: Indicates operating status CAN_SHLD Red: Indicates error status FR-A7NCA CAN_H CAN_V+ Indicates network status and error status of the device. LED indication status Status Description Power OFF/Reset Hold Power of the device is OFF. Or reset held status.

  • Page 14: Specifications

    PRE-OPERATION INSTRUCTIONS Specifications (1) Communication specifications Item Description Topology Communication speed 10Kbps to 1Mbps Transmission distance 25m(1M) to 2500m(10k) Number of node Communication method PeerToPeer, broad cast EDS file With * A bridge or repeater is necessary when the transmission distance is 1000m or more. (2) List of communication service (function) Item Description...

  • Page 15: Installation

    INSTALLATION Pre-Installation Instructions Make sure that the input power of the inverter is off. CAUTION With input power on, do not install or remove the plug-in option. Otherwise, the inverter and plug-in option may be damaged. Installation of the Communication Option LED Display Cover Mount the cover for displaying the operation status indication LED for the communication option on the inverter front cover.

  • Page 16: Installation Procedure

    INSTALLATION Installation Procedure 1) Remove the inverter front cover. 2) Mount the hex-head screw for option mounting into the inverter screw hole (on earth plate). (size 5.5mm, tightening torque 0.56N⋅m to 0.75N⋅m) 3) Securely fit the connector of the plug-in Screw hole for option mounting option to the inverter connector along...
  • Page 17 INSTALLATION CAUTION When using this option unit, mount it in the "option connector 3 (lowermost • Mounting Error connector)" of the inverter. Position Display If it is fitted in option connector 1 or 2, " " or " " (option alarm) Connector 1 is displayed and the inverter will not function.

  • Page 18: Node Address Setting

    Node Address Setting (1) Setting with node address switch Set the node address between "1 to 127(7Fh)" using node address switches on the FR-A7NCA (refer to page 4). The setting is reflected when power turns on next or the inverter is reset.

  • Page 19: Wiring

    · Check that the correct node address is set. (Refer to page 10.) · Check that a drop cable is firmly connected to the FR-A7NCA. (Refer to page 12.) (2) Make sure that the terminating resistor is installed at each end (between CAN_H and CAN_L) of the trunk cable.

  • Page 20: Wiring

    WIRING Wiring (1) Strip the insulation back about 40mm on the free wire end of the drop cable to expose the four colored signal wires and the silver shield wire. (2) Strip the insulation back of each signal cable to use. If the length of the sheath pealed is too long, a short circuit may occur among neighboring wires.
  • Page 21 WIRING (5) For wiring of FR-A740-00620-EC or less, route wires between the control circuit terminal block and front cover. If cables can not be routed between the control circuit terminal block and front cover (approx 7mm), remove a hook of the front cover and use a space become available. For wiring of FR-A740-00770-EC or more, use the space on the left side of the control circuit terminal block.

  • Page 22: Inverter Setting

    0 to 999.8s 0.1s time Communication error occurrence count display Stop mode selection at communication 0, 1, 2, 3 error NET mode control source selection 0, 1, 9999 9999 * Parameters which can be displayed when the plug-in option (FR-A7NCA) is mounted.

  • Page 23: Parameter For Canopen Communication

    INVERTER SETTING Parameter for CANopen communication CANopen communication can be set by the inverter parameter. Parameter setting is made valid after inverter reset (turning the power off and turning the RES signal on). 4.2.1 CANopen address (Pr. 347) Parameter Minimum Setting Initial Name Setting Range...

  • Page 24: Canopen Baud Rate (Pr. 348)

    INVERTER SETTING 4.2.2 CANopen baud rate (Pr. 348) Parameter Minimum Setting Initial Name Setting Range Number Increments Value CANopen baud rate 0 to 4095 Baud rate of CANopen communication can be set using Pr.348. Baud Rate Key Baud Rate Not Available* A value set is ignored.

  • Page 25: Operation Mode Setting

    INVERTER SETTING Operation Mode Setting The inverter mounted with a communication option has three operation modes. (1) PU operation [PU]....Controls the inverter from the key of the operation panel (FR-DU07) mounted on the inverter. (2) External operation [EXT] ... Controls the inverter by switching on/off external signals connected to the control circuit terminals of the inverter.

  • Page 26: Operation Mode Switching And Communication Startup Mode (Pr. 79, Pr. 340)

    INVERTER SETTING 4.3.2 Operation mode switching and communication startup mode (Pr. 79, Pr. 340) (1) Operation mode switching conditions Before switching the operation mode, check that: 1) The inverter is at a stop; 2) Both the STF and STR signals are off; and 3) The Pr.
  • Page 27 INVERTER SETTING Pr. 340 Pr. 79 Operation Mode at Power on or Power Operation Mode Switchover Setting Setting Restoration 0 (initial Switching among the external, PU, and NET operation mode is External operation mode value) enabled PU operation mode PU operation mode fixed Switching between the external and Net operation mode is enabled External operation mode Switching to the PU operation mode is disallowed...
  • Page 28 INVERTER SETTING (3) Operation mode switching method External operation When "0, 1, or 2" is set in Pr. 340 Switching from the PU Switching from the network Press of the Switch to the external operation mode from PU to light Press the network.

  • Page 29: Operation And Speed Command Source (Pr. 338, Pr. 339, Pr. 550)

    INVERTER SETTING Operation and Speed Command Source (Pr. 338, Pr. 339, Pr. 550) (1) Select control source for the network operation mode (Pr. 550) A control location for the network operation mode can be selected from either the inverter RS-485 terminal or communication option.
  • Page 30 INVERTER SETTING (2) Selection of control source for the network operation mode (Pr. 338, Pr. 339) ⋅ As control sources, there are operation command source that controls signals related to the start command and function selection of the inverter and speed command source that controls signals related to frequency setting.
  • Page 31 INVERTER SETTING Pr. 338 Communication operation 0:NET 1:External Control command source Location Remarks Pr. 339 Communication speed Selection 0:NET External 0:NET command source External External External FR-HC connection, instantaneous 11 X11 External power failure detection 12 X12 PU operation external interlock External External DC injection brake 13 X13...
  • Page 32 INVERTER SETTING Pr. 338 Communication operation 0:NET 1:External Control command source Location Remarks Pr. 339 Communication speed Selection 0:NET External 0:NET command source External External External SQ Sequence start Combined External 60 STF Forward rotation command External 61 STR Reverse rotation command External 62 RES Reset External...

  • Page 33: Communication Eeprom Write Selection (Pr. 342)

    INVERTER SETTING 4.4.1 Communication EEPROM write selection (Pr. 342) When parameter write is performed from the communication option, write to RAM is enabled. Set when frequent parameter changes are necessary. Parameter Initial Setting Name Description Number Value Range Parameter values written by communication are written to the Communication EEPROM write EEPROM and RAM.

  • Page 34: Operation At Communication Error Occurrence

    INVERTER SETTING Operation at Communication Error Occurrence 4.5.1 Operation selection at communication error occurrence (Pr. 500 to Pr. 502) You can select operations at communication error occurrences by setting Pr. 500 to Pr. 502 under network operation. (1) The set time from when a communication line error occurrence until communication error output You can set the waiting time from when a communication line error occurs until it is recognized as a communication error.
  • Page 35 INVERTER SETTING (2) Display and erasure of communication error occurrence count The cumulative number of communication error occurrences can be indicated. Write "0" to erase this cumulative count. Parameter Minimum Setting Name Setting Range Initial Value Number Increments Communication error occurrence count display Normal Error...
  • Page 36 INVERTER SETTING (3) Inverter operation selection at communication error occurrence You can select the inverter operation if a communication line error or an error of the option unit itself occurs. Parameter Minimum Setting Name Setting Range Initial Value Number Increments Stop mode selection at 0, 1, 2, 3 communication error...
  • Page 37 INVERTER SETTING Operation at error removal Alarm Definition Pr. 502 Setting Operation Indication Alarm Output Kept stopped E.OP3 kept lit Kept provided Communication line Restart Normal indication Not provided Continued 0, 3 Communication Kept stopped E. 1 or E.3 kept lit Kept provided option itself 1, 2...

  • Page 38: Alarm And Measures

    INVERTER SETTING 4.5.2 Alarm and measures (1) The inverter operates as follows at alarm occurrences. Operation Mode Alarm Status Network External Location PU Operation Operation Operation Inverter operation Inverter trip Inverter trip Inverter trip Inverter Data communication Continued Continued Continued Inverter trip Inverter operation (depends on...
  • Page 39 INVERTER SETTING (2) Measures at alarm occurrences Alarm Indication Alarm Definition Measures Check the LED status of the option unit and remove the cause of the Communication line E.OP3 alarm. (Refer to page 5 for LED indication status) error Inspect the master. Check the connection between the inverter and option unit for poor E.1, E.2, E.3 Option alarm...

  • Page 40: Inverter Reset

    INVERTER SETTING Inverter Reset (1) Operation conditions of inverter reset Which resetting method is allowed or not allowed in each operation mode is described below. Operation Mode Resetting Method Network External Operation Operation Operation Inverter reset Index H2107 (Refer to page 94) Allowed Disallowed Disallowed...
  • Page 41 INVERTER SETTING (2) Error reset operation selection at inverter fault When used with the communication option (FR-A7NCA), an error reset command* from network can be made invalid in the external operation mode or PU operation mode. Parameter Initial Setting Name...

  • Page 42: Frequency And Speed Conversion Specifications

    Pr. 144 = 0. The increments for Hz are 0.01Hz, machine speed are 1m/min, and r/min are 1r/min. When the FR-A7NCA is not mounted, the unit of the value is as in parenthesis. REMARKS Refer to the inverter manual (applied) for details of Pr. 37, Pr. 144, and Pr. 505.

  • Page 43: Functions

    FUNCTIONS Output from the Inverter to the Network Main items to be output from the inverter (FR-A7NCA) to the network and their descriptions are explained below. Item Description Refer to Page Inverter monitor Monitor various items such as inverter output frequency and output current.

  • Page 44: Canopen Definitions

    CANopen DEFINITIONS Communication method There are two objects for CANopen data communication objects: Process Data Object (PDO) and Service Data Object (SDO). PDO has features such as transmission of real time data and no response (Ack) requirement, and can be used for general process data transmission.

  • Page 45: Message Format

    CANopen DEFINITIONS Message format A message format consists of "COB.ID" and "data part". COB-ID (Communication Object ID) is a message header part and consists of 11 bit length data. In addition, a data part is 8 byte length and data arrangement of word length and long length is "little endian (arranged in order from the lowest byte)".

  • Page 46: Response Level

    CANopen DEFINITIONS Response Level 6.3.1 Response level of PDO (1) Response level of CANopen bus Request Response Within 2ms (2) Reflect timing on the atcual speed or speed monitor after speed setting Speed Speed Speed Speed Speed command B command B command B command B command...

  • Page 47: Response Level Of Sdo

    CANopen DEFINITIONS 6.3.2 Response level of SDO (1) Reading Request Response Within 100ms (2) Writing Request Response Within 100ms (3) Parameter clearing The inverter will not respond until parameter clear processing complete (about 5s) after sending parameter all clear command. (4) At inverter reset Inverter reset processing is executed after sending a response message.

  • Page 48: Service

    SERVICE Process Data Object (PDO) 7.1.1 Receive PDO Standard A7NCA Mapping Support object Mapping object name Description Index 6040h control word controls the state machine (1stRPDO) 6040h control word  controls the state machine and mode of operation 6060h modes_of_operation 6040h control word ...
  • Page 49 SERVICE (1) 1st Receive PDO (PDO No.1) <format> Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Reset Enable Quick Disable Switch (Index 6040h-00h)control word    Byte0 Fault Operation Stop Voltage         Byte1 Byte2 (blank)
  • Page 50 SERVICE (2) 2nd Receive PDO (PDO No.6) <format> Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Reset Enable Quick Disable Switch (Index 6040h-00h)control word    Byte0 Fault Operation Stop Voltage         Byte1 Byte2 target_velocity (vl) (L)
  • Page 51 SERVICE (3) 3rd Receive PDO (PDO No.21) <format> Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 (Index 4010h-00h)  Byte0 Control input command    Byte1 STOP Byte2 Set Frequency (RAM) (L) (Index 4012h-01h) Set Frequency (RAM) Byte3 Set Frequency (RAM) (H) Byte4 (blank) Byte5...

  • Page 52: Transmit Pdo

    SERVICE 7.1.2 Transmit PDO Standard A7NCA Mapping Support object Mapping object name Description Index 6041h status word shows status (1stTPDO) 6041h status word  shows status and the actual mode of operation 6061h modes_of_operation_display 6041h status word  shows the status and the actual position (pp) 6064h position_actual_value 6041h...
  • Page 53 SERVICE (1) 1st Transmit PDO (PDO No.1) <format> Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Switched (Index 6041h-00h) status word Quick Voltage Operation Switched Ready to  Byte0 Fault Stop Disabled Enabled Switch On Disabled Internal Target   ...
  • Page 54 SERVICE (2) 2nd Transmit PDO (PDO No.6) <format> Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Switched (Index 6041h-00h) status word Quick Voltage Operation Switched Ready to  Byte0 Fault Stop Disabled Enabled Switch On Disabled Internal Target   ...
  • Page 55 SERVICE (3) 3rd Transmit PDO (PDO No.21) <format> Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 During During (Index 4011h-00h) Inverter status Frequency Up to Byte0 Error Overload reverse forward Running detection frequency rotation rotation Operation     ...

  • Page 56: Service Data Object (Sdo)

    SERVICE Service Data Object (SDO) 7.2.1 SDO Upload (SDO read) <model> Initiate SDO Upload Client (PLC) Server (A7NCA) 8(byte) 7..5 4..0 reserved ccs = 2 request indication 7..5 response confirm ccs = 2 <request format> Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0...
  • Page 57 SERVICE <response format> Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Byte0 scs(2) blank(0) Byte1 Index (L) Byte2 Index (H) Byte3 Sub-Index Byte4 Read data (L) Byte5 Read data (ML) Byte6 Read data (MH) Byte7 Read data (H) Meaning Invalid (reservation) Invalid 4byte is read Invalid Unspecified read data is included.

  • Page 58: Sdo Download (Sdo Write)

    SERVICE 7.2.2 SDO Download (SDO write) <model> Initiate SDO Download Client (PLC) Server (A7NCA) 8(byte) 7..5 3..2 ccs = 1 request indication 7..5 4..0 reserved response confirm ccs = 3 <request format> Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Byte0 ccs(1) blank(0)
  • Page 59 SERVICE Meaning Invalid (reservation) Invalid Write 4 byte Invalid Unspecified read data is included. Valid Write [4-n] byte. When n (Byte3, Byte2) becomes valid, n indicates the number of byte whose data (Byte4 to Byte7) is not used. <response format> Bit7 Bit6 Bit5...

  • Page 60: Sdo Abort Code (Sdo Error Code)

    SERVICE 7.2.3 SDO Abort Code (SDO error code) Protocol for returning abort code <model> Abort SDO Transfer Client / Server Server / Client 7..5 4..0 cs = 4 request indication <response format> Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Byte0 cs(4) blank(0)
  • Page 61 SERVICE Abort Code Description 0503 0000h Toggle bit not alternated. 0504 0000h SDO protocol timed out. 0504 0001h Client/server command specifier not valid or unknown. 0504 0002h Invalid block size (block mode only). 0504 0003h Invalid sequence number (block mode only). 0504 0004h CRC error (block mode only).

  • Page 62: Sync Object

    SERVICE SYNC Object SYNC object has two types as stated below and uses an object dictionary in the following. <Related object dictionary> Reference Index Sub-Index Name Unit Detail page  1005h COB-ID SYNC message COB-ID of SYNC message 7.3.1 Bus Synchronization and Sampling <model>...
  • Page 63 SERVICE (2) Time-line communication cycle period synchronous window length SYNC SYNC Message Message object mapped in object mapped in synchrnous TPDO synchrnous TPDO Samples immediately taken at SYNC for objects mapped in synchronous TPDO <request format> Without. Send COB-ID only. Write SYNC SYNC Producer SYNC Consumers(s)

  • Page 64: Bus Synchronization And Actual

    SERVICE 7.3.2 Bus Synchronization and Actual <model> Process synchronous RPDO received triggered by SYNC message (SYNC SIGNAL) periodically broadcasted. (1) Concept SYNC SIGNAL Data Processing Unit In Buffer A Actuator A Out Data A In Buffer B Actuator B Out Data B Data N Data B Data A...
  • Page 65 SERVICE (2) Time-line communication cycle period synchronous window length SYNC SYNC Message Message object mapped in object mapped in synchrnous RPDO synchrnous RPDO Actuate on objects Actuate on objects mapped in last mapped in last received received synchronous RPDO synchronous RPDO Actuation based objects mapped in last received synchronous RPDO at next SYNC <request format>...

  • Page 66: Emergency Object

    SERVICE Emergency object This object is used for reporting an inverter error from the slave to the master. <model> Write EMCY EMCY Producer EMCY Consumer Indication Indication request Indication Emergency Object Data <request format> Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Byte0...
  • Page 67 SERVICE Corresponding Corresponding Emergency Error Code inverter Emergency Error Code inverter alarm alarm 6100 internal software E.RET 0000 no error 6304 data record No. 4 E.OC1 2213 over-current in ramp function 6305 data record No. 5 E.OC3 6308 data record No. 8 2214 over-current in the sequence E.OC2...

  • Page 68: Network Management Object (Nmt)

    SERVICE Network Management object (NMT) 7.5.1 Status transition of NMT state The status transition as option unit CANopen slave is indicated below. (determined in CANopen standard) Initialisation (11) (14) Pre-Operational (10) (13) Stopped (12) Operational Transition No Operation Power on or inverter reset Initialization complete.

  • Page 69: Status Transition Matrix Of Nmt State

    SERVICE 7.5.2 Status transition matrix of NMT state The table below shows available services in each status. NMT State Service name Initializing Pre-Operational Operational Stopped Boot-Up Emergency SYNC / TIME Heartbeat / Nodeguard : Service usable...

  • Page 70: Module Control Service

    SERVICE 7.5.3 Module Control Service Changes to NMT state (node status). <model> NMT Master NMT Slave(s) request Indication(s) Node-ID Indication COB-ID = 0 Indication Indication <request format> Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Byte0 Byte1 Node-ID(0 to 127) Module Control Description Service...

  • Page 71: Error Control Service

    SERVICE 7.5.4 Error Control Service (1) Guarding Used when the master sends a request to the slave for obtaining the device state of the slave. When the slave can not recieve the request in [Node Life time], option error (E. OP3) occurs. <model>...
  • Page 72 SERVICE <response format> Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Byte0 r(0) s (0 to 127) Meaning (NMT Status) Stopped Operational Pre-Operational...
  • Page 73 SERVICE (2) Heartbeat Used for notifying the device state of itself without request. <model> Write Heartbeat COB-ID = 1792 + Node-ID Heartbeat Heartbeat Producer Consumer 6...0 request indication indication Heartbeat indication Producer Heartbeat Time Consumer Time 6...0 request indication indication indication Heartbeat Consumer...
  • Page 74 SERVICE <Transmission format> Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Byte0 r(0) s (0 to 127) Meaning (NMT Status) Bootup Stopped Operational Pre-Operational (3) Bootup Transmits the own node address at startup. <model> Bootup Event COB-ID = 1792 + Node-ID NMT Master NMT Slave indication...

  • Page 75: Object Dictionary

    OBJECT DICTIONARY Object List Reference Index Name Data Type Attribute Index page 1000h device type UNSIGNED32 1001h error register UNSIGNED8 1002h manufacturer status register UNSIGNED32 1005h COB-ID SYNC UNSIGNED32 1008h manufacturer device name Vis-String const  100Ah 00h Manufacturer Software Version Object for manufacturer setting.
  • Page 76 OBJECT DICTIONARY Reference Index Name Data Type Attribute page Index 2000h Inverter monitor UNSIGNED16 2063h 2106h 00h Alarm clear UNSIGNED16 2107h 00h Inverter reset UNSIGNED16 2108h 00h Parameter Clear UNSIGNED16 2109h 00h Operation Mode UNSIGNED16 3000h Parameter area UNSIGNED16 (Pr. 0 to Pr. 901) 3385h Parameter area (Pr.
  • Page 77 OBJECT DICTIONARY Reference Index Name Data Type Attribute Index page Number of Entries UNSIGNED8 4002h Set frequency (RAM) UNSIGNED16 Set frequency (EEPROM) UNSIGNED16 Number of Entries UNSIGNED8 4003h Set speed (RAM) UNSIGNED16 Set speed (EEPROM) UNSIGNED16 4010h 00h Control input command (w) UNSIGNED16 4011h 00h Inverter status (r)
  • Page 78 OBJECT DICTIONARY Reference Index Name Data Type Attribute page Index 6040h 00h controlword UNSIGNED16 6041h 00h statusword UNSIGNED16 6042h 00h vl_target_velocity INTEGER16 6043h 00h vl_velocity_demand INTEGER16 6044h 00h vl_control_effort INTEGER16 6046h 00h vl_velocity_min_max_amount UNSIGNED32 vl_velocity_acceleration vl_velocity_acceleration deceleration_record 6048h Delta_speed UNSIGNED32 Delta_time UNSIGNED16 vl_velocity_acceleration...

  • Page 79: Object Detail Of Communication Profile Area

    OBJECT DICTIONARY Object Detail of Communication Profile Area 8.2.1 (Index 1000h) Device Type Sub Index Item Description Name Device Type Data type UNSIGNED32 (32 bit unsigned) Default value 00010192h Access attribute Read Only Availability of mapping to PDO Disable <Detail> Description REMARKS 0 to 15...

  • Page 80: Index 1001H) Error Register

    OBJECT DICTIONARY 8.2.2 (Index 1001h) Error Register Sub Index Item Description Name Error Register Data type UNSIGNED8 (8 bit unsigned) Default value 0 (Inverter alarm is not occurred.) Access attribute Read Only Availability of mapping to PDO Enable <Detail> Bits corresponding to emergency error code of emergency object turn to 1. Description REMARKS 1 when an error related to any of the followings occurs:...

  • Page 81: Index 1002H) Manufacturer Status Register

    OBJECT DICTIONARY 8.2.3 (Index 1002h) Manufacturer Status Register Sub Index Item Description Name Manufacturer Status Register Data type UNSIGNED32 (32 bit unsigned) Default value 0 (Inverter alarm is not occurred.) Access attribute Read Only Availability of mapping to PDO Enable <Detail>...

  • Page 82: (Index 1005H) Cob-Id Sync

    OBJECT DICTIONARY 8.2.4 (Index 1005h) COB-ID SYNC Sub Index Item Description Name COB-ID for SYNC Object Data type UNSIGNED32 (32 bit unsigned) Default value 00000080h Access attribute Read / Write Availability of mapping to PDO Disable <Detail> Description REMARKS 0 to 10 COB-ID of SYNC Object 11 to 28 (Not used)

  • Page 83: Index 1008H) Manufacturer Device Name

    OBJECT DICTIONARY 8.2.5 (Index 1008h) Manufacturer Device Name Sub Index Item Description Name Manufacturer Device Name Data type VISIBLE_STRING(ASCII data) Default value (Below) Access attribute Const Availability of mapping to PDO Disable <Detail> Model Description REMARKS A700 "A700" = 41h 37h 30h 30h 8.2.6 (Index 100Ch) Guard Time Sub Index...

  • Page 84: Index 100Dh) Life Time Factor

    OBJECT DICTIONARY 8.2.7 (Index 100Dh) Life Time Factor Sub Index Item Description Name Life Time Factor Data type UNSIGNED8 (8 bit unsigned) Default value Unit Access attribute Read / Write Availability of mapping to PDO Disable <Detail> A factor to determine the Time out value ([Node Life Time]) in Node Guarding Protocol. [Node Life Time], a factor to determine the check time of polling receive interval in Guarding protocol, is determined by [Guard Time] ×...

  • Page 85: Index 1010H) Store Parameters

    OBJECT DICTIONARY 8.2.8 (Index 1010h) store parameters Sub Index Item Description Name Largest Subindex Supported Data type UNSIGNED8 (8 bit unsigned) Default value  Unit Access attribute Read Only Availability of mapping to PDO Disable Name Save All Parameters Data type UNSIGNED32 (32 bit unsigned) ...
  • Page 86 OBJECT DICTIONARY <Detail> When "save" is written to Sub Index, "Store process" is performed and the value of object dictionary is saved to EEPROM. To write "save", align from "e". (e(65h) v(76h) a(61h) s(73h)) Sub Index Store process Save the all entry. Save Index1000h to 1FFFh(Communication Profile Area).

  • Page 87: Index 1011H) Restore Default Parameters

    OBJECT DICTIONARY 8.2.9 (Index 1011h) restore default parameters Sub Index Item Description Name Number of Entries Data type UNSIGNED8 (8 bit unsigned) Default value  Unit Access attribute Read Only Availability of mapping to PDO Disable Name Restore All Default Parameters Data type UNSIGNED32 (32 bit unsigned) ...

  • Page 88: Index 1014H) Cob-Id Emcy

    OBJECT DICTIONARY <Detail> When "load" is written to Sub Index, "Restore process" is performed. To write "load", align from "d". (d(64h) a(61h) o(6Fh) l(6Ch)) Sub Index Restore process All entries return to the default values. (All clear + Option EEPROM clear) Index1000h to 1FFFh(Communication Profile Area) return to the default values.

  • Page 89: Index 1015H) Inhibit Time Emcy

    OBJECT DICTIONARY 8.2.11 (Index 1015h) Inhibit Time EMCY Sub Index Item Description Name Inhibit Time EMCY Data type UNSIGNED16 (16 bit unsigned) Default value Unit 100µs Access attribute Read / Write Availability of mapping to PDO Disable <Detail> For Emergency protocol. Transmission disabled time can be set. Setting range is "0 to 65535µs".

  • Page 90: Index 1018H) Identity

    OBJECT DICTIONARY 8.2.13 (Index 1018h) Identity Sub Index Item Description Name Number of Entries Data type UNSIGNED8 (8 bit unsigned) Default value  Unit Access attribute Read Only Availability of mapping to PDO Disable Name Vendor ID Data type UNSIGNED32 (32 bit unsigned) Default value 000001D0h ...
  • Page 91 OBJECT DICTIONARY Sub Index Item Description Name Serial Number Data type UNSIGNED32 (32 bit unsigned) Default value Use within the range of 00000000h to 0000FFFFh.  Unit Access attribute Read Only Availability of mapping to PDO Disable <Detail> • Return some basic information of node. (Vender ID, Product code, Revision number, Serial number) •...

  • Page 92: Index 1400H To 15Ffh) Recive Pdo Parameters

    OBJECT DICTIONARY 8.2.14 (Index 1400h to 15FFh) Recive PDO Parameters Sub Index Item Description Name Lagrgest Subindex Supported Data type UNSIGNED8 (8 bit unsigned) Default value  Unit Access attribute Read Only Availability of mapping to PDO Disable Name COB-ID used by PDO Data type UNSIGNED32 (32 bit unsigned) Index 1400h:200h + Node-ID...
  • Page 93 OBJECT DICTIONARY <Detail> Perform a communication setting of Receive PDO. Sub Index Description The sub-index 0h contains the number of valid entries within the communication record. Its 0 to 7 value is at least 2. 0 to 10 COB-ID 11 to 28 Always 0 Always 0 11-bit ID (CAN 2.0A)

  • Page 94: Index 1600H To 17Ffh) Recive Pdo Mapping

    OBJECT DICTIONARY 8.2.15 (Index 1600h to 17FFh) Recive PDO Mapping Sub Index Item Description Name Number of mapped application objects in PDO Data type UNSIGNED8 (8 bit unsigned)  Default value  Unit Access attribute Read Only Availability of mapping to PDO Disable Name PDO mapping for the nth application object to be mapped Data type...

  • Page 95: Index 1800H To 19Ffh) Transmit Pdo Parameters

    OBJECT DICTIONARY 8.2.16 (Index 1800h to 19FFh) Transmit PDO Parameters Sub Index Item Description Name Lagrgest Subindex Supported Data type UNSIGNED8 (8 bit unsigned) Default value  Unit Access attribute Read Only Availability of mapping to PDO Disable Name COB-ID used by PDO Data type UNSIGNED32 (32 bit unsigned) Index 1800h: 180h + Node-ID...
  • Page 96 OBJECT DICTIONARY Sub Index Item Description Name Event Timer Data type UNSIGNED8 (8 bit unsigned)  Default value Unit Access attribute Read / Write Availability of mapping to PDO Disable REMARKS Refer to page 84 for details of (Index 1400h to 15FFh) Recive PDO Parameters.
  • Page 97 OBJECT DICTIONARY <Detail> Perform a communication setting of Transmit PDO. Sub Index Description The sub-index 0h contains the number of valid entries within the communication record. Its 0 to 7 value is 4. 0 to 10 COB-ID 11 to 28 Always 0 Always 0 11-bit ID (CAN 2.0A)

  • Page 98: Index 1A00 To 1Bffh)Transmit Pdo Parameters

    OBJECT DICTIONARY 8.2.17 (Index 1A00 to 1BFFh)Transmit PDO Parameters Sub Index Item Description Name number of mapped application objects in PDO Data type UNSIGNED8 (8 bit unsigned)  Default value  Unit Access attribute Read Only Availability of mapping to PDO Disable Name PDO mapping for the nth application object to be mapped Data type...

  • Page 99: Object Detail Of Manufacturer Specific Area

    OBJECT DICTIONARY Object Detail of Manufacturer Specific Area 8.3.1 (Index 2000h to 2063h) Monitor of the inverter Sub Index Item Description Name (Refer to the following table) Data type UNSIGNED16 (16 bit unsigned)  Default value Unit (Refer to the following table) Access attribute Read Only Availability of mapping to PDO Enable...
  • Page 100 OBJECT DICTIONARY Unit Index Name 01800 or less 02160 or more 200Eh Input terminal 200Fh Output terminal 2010h Load meter 0.1% 0.1% 2011h Motor excitation current 0.01A 0.1A 2012h Position pulse 0.1% 0.1% 2013h Cumulative energization time   2014h Reference voltage output 2015h Orientation status 2016h Actual operation time 2017h Motor load factor...
  • Page 101 OBJECT DICTIONARY Available only when the FR-A7AP is mounted. Input terminal monitor details — — — — RES STOP MRS JOG Output terminal monitor details — — — — — — — — — ABC2 ABC1 Details of option input terminal monitor 1 (input terminal status of FR-A7AX) all terminals are off when an option is not fitted.

  • Page 102: Index 2106H) Alarm Clear

    OBJECT DICTIONARY 8.3.2 (Index 2106h) Alarm clear Sub Index Item Description Name Alarm clear Data type UNSIGNED16 (16 bit unsigned)  Default value  Unit Access attribute Write Only Availability of mapping to PDO Enable <Detail> Perform an alarm clear by writing "any data". 8.3.3 (Index 2107h) Inverter reset Sub Index...

  • Page 103: Index 2108H) Parameter Clear

    OBJECT DICTIONARY 8.3.4 (Index 2108h) Parameter Clear Sub Index Item Description Name Parameter Clear Data type UNSIGNED16 (16 bit unsigned)  Default value  Unit Access attribute Write Only Availability of mapping to PDO Disable <Detail> Perform parameter clear / all parameter clear. Clear type can be selected with the written value.

  • Page 104: Index 2109H) Operation Mode

    OBJECT DICTIONARY 8.3.5 (Index 2109h) Operation Mode Sub Index Item Description Name Operation Mode Data type UNSIGNED16 (16 bit unsigned)  Default value  Unit Access attribute Read / Write Availability of mapping to PDO Disable <Detail> Respond error if the inverter is not receptive when requesting. Value Description 0000h...

  • Page 105: Index 3000H To 3385H, 33Ach To 33E7H) Normal Parameter Area

    OBJECT DICTIONARY 8.3.6 (Index 3000h to 3385h, 33ACh to 33E7h) Normal Parameter Area Sub Index Item Description Name Parameter area (Pr.0 to Pr.901, Pr.940 to Pr.999) Data type UNSIGNED16 (16 bit unsigned)  Default value  Unit Access attribute Read / Write Availability of mapping to PDO Enable <Detail>...

  • Page 106: Index 3386H To 33Abh) Calibration Parameter Area

    OBJECT DICTIONARY 8.3.7 (Index 3386h to 33ABh) Calibration Parameter Area Sub Index Item Description Name Number of Entries Data type UNSIGNED8 (8 bit unsigned) Default value  Unit Access attribute Read Only Availability of mapping to PDO Disable Name Parameter Area (Pr.902 to Pr.939) (Offset value) Data type UNSIGNED16 (16 bit unsigned) ...

  • Page 107: Index 3400H To 3403H) Alarm History 1 To 8

    OBJECT DICTIONARY 8.3.8 (Index 3400h to 3403h) Alarm history 1 to 8 Sub Index Item Description Name Alarm history 1 to 8 Data type UNSIGNED16 (16 bit unsigned)  Default value  Unit Access attribute Read / Write (Index 3400h), Read Only (Index 3401h to 3403h) Availability of mapping to PDO Enable <Detail>...
  • Page 108 OBJECT DICTIONARY <List of alarm definition> Data Description Data Description Data Description Data Description No alarm E.11 E.13 Appears when the FR-A7AP (option) is fitted. Refer to the inverter manual for details of alarm definitions.

  • Page 109: Index 4000H) Control Input Command (W) / Inverter Status (R)

    *3 STF and STR are valid only when the internal status of the FR-A7NCA (Refer to page 112) is Operation Enable. The motor runs at the speed of target_velocity at transition to Operation Enable.
  • Page 110 OBJECT DICTIONARY (2) Inverter status (Reading) Bit difinitions are as follows. Definition RUN (inverter running) FWD (During forward rotation) REV (Reverse running) Signals are not affected by SU (up-to-frequency) settings of Pr.190 to Pr.196 (output terminal function OL (overload) selection). IPF (instantaneous power failure) FU (frequency detection) ABC1 (alarm)

  • Page 111: Index 4001H) Set Frequency (Set Speed) (W)

    OBJECT DICTIONARY 8.3.10 (Index 4001h) Set frequency (Set Speed) (w) / Output frequency (Running speed) (r) Sub Index Item Description Name Number of Entries Data type UNSIGNED8 (8 bit unsigned) Default value  Unit Access attribute Read Only Availability of mapping to PDO Disable Name Set frequency (w) / Output frequency (r) Data type...
  • Page 112 OBJECT DICTIONARY <Detail> Perform frequency setting to the inverter. And read the output frequency. When written at the same time as Index 4012h set frequency (w), set speed (w) (written at the same time with SDO and PDO), the latter writing has priority. (1) Writing Perform the set frequency (speed) writing in 0.01Hz (1r/min) increments.

  • Page 113: Index 4002H) Set Frequency

    OBJECT DICTIONARY 8.3.11 (Index 4002h) Set Frequency Sub Index Item Description Name Number of Entries Data type UNSIGNED8 (8 bit unsigned) Default value  Unit Access attribute Read Only Availability of mapping to PDO Disable Name Set Frequency (RAM) Data type UNSIGNED16 (16 bit unsigned) ...

  • Page 114: Index 4003H) Set Speed

    OBJECT DICTIONARY 8.3.12 (Index 4003h) Set Speed Sub Index Item Description Name Number of Entries Data type UNSIGNED8 (8 bit unsigned) Default value  Unit Access attribute Read Only Availability of mapping to PDO Disable Name Set Speed (RAM) Data type UNSIGNED16 (16 bit unsigned) ...

  • Page 115: Index 4010H) Control Input Command (W)

    *3 STF and STR are valid only when the internal status of the FR-A7NCA (Refer to page 112) is Operation Enable. The motor runs at the speed of target_velocity at transition to Operation Enable.

  • Page 116: Index 4011H) Inverter Status (R)

    OBJECT DICTIONARY 8.3.14 (Index 4011h) Inverter Status (r) Sub Index Item Description Name Inverter Status (r) Data type UNSIGNED16 (16 bit unsigned)  Default value  Unit Access attribute Read Only Availability of mapping to PDO Enable <Detail> Read the inverter status. Bit definitions are as follows.

  • Page 117: Index 4012H) Set Frequency (W) / Set Speed (W)

    OBJECT DICTIONARY 8.3.15 (Index 4012h) Set Frequency (w) / Set Speed (w) Sub Index Item Description Name Number of Entries Data type UNSIGNED8 (8 bit unsigned) Default value  Unit Access attribute Read Only Availability of mapping to PDO Disable Name Set Frequency (w) Data type...

  • Page 118: Index 4013H) Output Frequency (R) / Running Speed (R)

    OBJECT DICTIONARY 8.3.16 (Index 4013h) Output Frequency (r) / Running Speed (r) Sub Index Item Description Name Number of Entries Data type UNSIGNED8 (8 bit unsigned) Default value  Unit Access attribute Read Only Availability of mapping to PDO Disable Name Output Frequency (r) Data type...

  • Page 119: Object Detail Of Device Profile Area

    OBJECT DICTIONARY Object detail of Device Profile Area 8.4.1 (Index 6040h) controlword Sub Index Item Description Name controlword Data Type UNSIGNED16 (16 bit unsigned)  Default value  Unit Access attribute Read / Write Availability of mapping to PDO Enable <Detail>...
  • Page 120 OBJECT DICTIONARY <Status transition> Refer to the table below to send a command for status transition. Power Fault Disabled Fault Start Reaction Active Not Ready to Fault Switch On *2 Switch On Disabled *2 Ready to Switch On *1 The inverter outputs the speed of target_velocity at transition to Operation Enable.
  • Page 121 Switched On • The status changes by a command Operation Enable During operation Quick Stop Active At deceleration to stop by QuickStop excecution  ("Fault Reaction Active" status is not available with the FR-A7NCA.) Fault Reaction Active Fault Alarm occurrence status...

  • Page 122: Index 6041H) Statusword

    OBJECT DICTIONARY 8.4.2 (Index 6041h) Statusword Sub Index Item Description Name statusword Data Type UNSIGNED16 (16 bit signed)  Default value  Unit Access attribute Read Only Availability of mapping to PDO Enable <Detail> Indicate the current status of the inverter. Description Remarks Ready to Switch On...
  • Page 123 OBJECT DICTIONARY <Relationship between status and bit combination> The table below shows each status of Page 112 of the status transition diagram. Bit combination Bit6 Bit2 Bit0 Bit5 Bit3 Bit1 Switch on Operation Ready to Quick Stop Fault Switch on Command disabled Enabled...

  • Page 124: Index 6042H) Vl_Target_Velocity

    OBJECT DICTIONARY 8.4.3 (Index 6042h) vl_target_velocity Sub Index Item Description Name vl target velocity Data Type INTEGER16 (16 bit signed) Default value Unit 1 r/min Access attribute Read / Write Availability of mapping to PDO Enable <Detail> Perform speed setting only. 8.4.4 (Index 6043h) vl_velocity_demand Sub Index...

  • Page 125: Index 6044H) Vl_Control_Effort

    OBJECT DICTIONARY 8.4.5 (Index 6044h) vl_control_effort Sub Index Item Description Name vl control effort Data Type INTEGER16 (16 bit signed)  Default value Unit 1 r/min Access attribute Read Only Availability of mapping to PDO Enable <Detail> Displays the motor speed Running speed monitor (value converted from output frequency) is returned for open loop control and actual .

  • Page 126: Index 6046H) Vl_Velocity_Min_Max_Amount

    OBJECT DICTIONARY 8.4.6 (Index 6046h) vl_velocity_min_max_amount Sub Index Item Description Name Number of Entries Data Type UNSIGNED8 (8 bit unsigned) Default value  Unit Access attribute Read Only Availability of mapping to PDO Disable Name vl velocity min amount (Pr. 2) Data Type UNSIGNED32 (32 bit unsigned) ...
  • Page 127 OBJECT DICTIONARY <Detail> Speed maximum and speed minimum. The setting range of Sub Index 01h, 02h are same as the Pr. 1 and Pr. 2. Changing the speed maximum value and speed minimum value of Index 6046 changes the Pr.1 Maximum frequency and Pr.2 Minimum frequency value as well.

  • Page 128: Index 6048H) Vl_Velocity_Acceleration

    OBJECT DICTIONARY 8.4.7 (Index 6048h) vl_velocity_acceleration Sub Index Item Description Name Number of Entries Data Type UNSIGNED8 (8 bit unsigned) Default value  Unit Access attribute Read Only Availability of mapping to PDO Disable Name Delta speed (Pr. 20) Data Type UNSIGNED32 (32 bit unsigned) ...
  • Page 129 OBJECT DICTIONARY <Detail> Slope of acceleration. It is formed as a ratio of Delta_speed and delta_time. The setting range of Sub Index 01h, 02h are same as the Pr. 7 and Pr. 20. When parameter 0 is defined for delta time, this function follows set-point directly. Use delta_speed as Pr.20 Acceleration/deceleration reference frequency and delta_time as Pr.7 Acceleration time.
  • Page 130 OBJECT DICTIONARY CAUTION The setting increments of acceleration time changes according to the Pr. 21 setting. The value 0.1 times greater than the setting value is written to the inverter when Pr. 21 = 1. When the Pr. 21 setting has been changed, set the acceleration time again.

  • Page 131: Index 6049H) Vl_Velocity_Deceleration

    OBJECT DICTIONARY 8.4.8 (Index 6049h) vl_velocity_deceleration Sub Index Item Description Name Number of Entries Data Type UNSIGNED8 (8 bit unsigned) Default value  Unit Access attribute Read Only Availability of mapping to PDO Disable Name Delta speed (Pr. 20) Data Type UNSIGNED32 (32 bit unsigned) ...
  • Page 132 OBJECT DICTIONARY <Detail> Slope of deceleration. It is formed as a ratio of Delta_speed and delta_time. The setting range of Sub Index 01h, 02h are same as the Pr. 8 and Pr. 20. When parameter 0 is defined for delta time, this function follows set-point directly. Regard delta_speed as Pr.20 Acceleration/deceleration reference frequency and delta_time as Pr.8 Deceleration time.

  • Page 133: Index 604Ah) Vl_Velocity_Quick_Stop

    OBJECT DICTIONARY 8.4.9 (Index 604Ah) vl_velocity_quick_stop Sub Index Item Description Name Number of Entries Data Type UNSIGNED8 (8 bit unsigned) Default value  Unit Access attribute Read Only Availability of mapping to PDO Disable Name Delta speed (Pr. 20) Data Type UNSIGNED32 (32 bit unsigned) ...
  • Page 134 OBJECT DICTIONARY <Detail> Slope of quick stop. It is formed as a ratio of Delta_speed and delta_time. The setting range of Sub Index 01h, 02h are same as the Pr. 8 and Pr. 20. Regard delta_speed as Pr.20 Acceleration/deceleration reference frequency and delta_time as Pr.8 Deceleration time. You can set the time taken by the motor to decelerate from the set frequency (1 to 400Hz) of Pr.

  • Page 135: Index 605Ah) Quick_Stop_Option_Code

    OBJECT DICTIONARY 8.4.10 (Index 605Ah) Quick_stop_option_code Sub Index Item Description Name Quick_stop_option_code Data Type INTEGER16 (16 bit signed) Default value  Unit Access attribute Read / Write Availability of mapping to PDO Disable <Detail> Select the operation for when Quick stop function is executed. Abort code 0609 0030 is returned when 3, 4, 7, or 8 is written.

  • Page 136: Index 6060H) Modes_Of_Operation

    INTEGER8 (8 bit signed) Default value  Unit Access attribute Read / Write Availability of mapping to PDO Enable <Detail> The current mode of the inverter is reflected on modes of operation display. FR-A7NCA supports Velocity Mode. Value Description Velocity Mode...

  • Page 137: Index 6061H) Modes_Of_Operation_Display

    OBJECT DICTIONARY 8.4.12 (Index 6061h) modes_of_operation_display Sub Index Item Description Name Modes of operation display Data Type INTEGER8 (8 bit signed) Default value  Unit Access attribute Read Only Availability of mapping to PDO Enable <Detail> Indicates the current operation mode. Value Description Velocity Mode...

  • Page 138: Index 67Ffh) Single_Device_Type

    OBJECT DICTIONARY 8.4.13 (Index 67FFh) Single_Device_Type Sub Index Item Description Name Device Type Data Type UNSIGNED32 (32 bit unsigned) Default value 00010192h Access attribute Read Only Availability of mapping to PDO Disable <Detail> 67FFh and offset 800h indicates a type and function of a device. Description Remarks 0 to 15...

  • Page 139: Troubleshooting

    Display Operation Possible Causes Check Point Corrective Action ERR LED of panel of FR-A7NCA inverter • Check that all cables are • Check for a cable Network error such as communication frame error connected properly. and connector. • Check that baud rate •...

  • Page 140: Appendix

    APPENDIX EDS file For the EDS file (A700.EDS) of the FR-A700 series, contact your sales representative.
  • Page 141 REVISIONS *The manual number is given on the bottom left of the back cover. Print Date *Manual Number Revision Jun., 2006 IB(NA)-0600259ENG-A First edition...

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