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LS ELECTRIC CANopen LSLV-G100 Series User Manual

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Summary of Contents for LS ELECTRIC CANopen LSLV-G100 Series

  • Page 2 Before using the product Thank you for using the G100 Series CANopen communication module.
  • Page 3 Safety Information Safety Information • Always follow safety instructions to prevent accidents and potentially hazardous situations. • Safety precautions are classified into "WARNING" and "CAUTION," and their meanings are as follows: Improper operation may result in serious personal injury or death. Improper operation may result in minor personal injury or property damage.

  • Page 4: Table Of Contents

    Table of Contents Table of Contents 1 Overview ....................... 1 What is CANopen? ....................1 What are the Benefits of Using the CANopen Communication Module? ....1 Package Content ....................... 1 2 CANopen Communication Module..............2 Technical Specifications .................... 2 CANopen Communication Module Layout ..............
  • Page 5 Table of Contents Predefined Error Field ....................24 COB-ID SYNC Message ..................25 Manufacturer Device Name ..................25 Manufacturer Hardware Version ................26 Manufacturer Software Version ................26 Guard Time ......................26 Life Time Factor ....................... 27 5.10 COB-ID EMCY ......................27 5.11 Producer Heartbeat Time ..................

  • Page 6: Overview

    Overview 1 Overview 1.1 What is CANopen? CANopen is a type of Fieldbus network utilizing CAN (Controller Area Network) specified by the CiA (CAN in Automation) Association. Currently, CANopen is utilized in the fields such as machine control, medical equipment, automotive electronics, and building automation. 1.2 What are the Benefits of Using the CANopen Communication Module? Using the network features, controlling and monitoring of the inverter can be...

  • Page 7: Canopen Communication Module

    CANopen Communication Module 2 CANopen Communication Module 2.1 Technical Specifications Items Description CANopen Power supply Power Supply for CANopen Supplied from inverter. communication module Network Topology Bus Topology 20 kbps, 50 kbps, 100 kbps, 125 kbps, 250 kbps, 500 Communication Baud Rate kbps, 800 kbps, 1 Mbps 64 Nodes (including the master node) Max.

  • Page 8: Canopen Communication Module Layout

    CANopen Communication Module 2.2 CANopen Communication Module Layout...

  • Page 9: Installing The Canopen Communication Module

    CANopen Communication Module 2.3 Installing the CANopen Communication Module Get the G100 CANopen communication module ready for installation. (A dedicated RJ-45 cable is attached to the module.) Remove the front cover from the G100 inverter. Connect the communication module to the G100 inverter using the RJ-45 network cable. Hook up the communication module to the installation slot on the inverter.

  • Page 10: Grounding The Canopen Communication Module

    CANopen Communication Module 2.4 Grounding the CANopen Communication Module Follow the instructions below to ground the CANopen communication cable (shielded cable). The ground cable is not included in the product package. Remove the front cover from the communication module. Fix the ground cable to the communication module using the bottom screw on the circuit board.

  • Page 11: Canopen Connection Terminal Layout

    CANopen Communication Module 2.5 CANopen Connection Terminal Layout CANopen 통신 케이블(차폐 케이블)의 케이블 접지를 사용할 경우에 아래와 같이 연결 합니다. 접지 와이어는 별도로 제공하지 않습니다. ① ② ③ ④ ⑤ Signal Description CAN Ground CAN_L CAN_L Bus Line (Dominant Low) CAN Shield CAN_H CAN_H Bus Line (Dominant High)

  • Page 12: Hardware Installation

    CANopen Communication Module 2.6 Hardware Installation Turn off the inverter before configuring the communication network. Both the inverter and the communication module will be damaged if the communication module is installed or removed while the inverter is turned on. Install or remove the communication module after the capacitor inside the inverter is completely discharged.
  • Page 13 CANopen Communication Module When the termination resistor selection switch is set to the bottom (Off) → Termination resistor is disabled.
  • Page 14 CANopen Communication Module When the termination resistor selection switch is set to the top (On) → Termination resistor is enabled.

  • Page 15: Maximum Communication Range By Baud Rate

    CANopen Communication Module 2.7 Maximum Communication Range by Baud Rate In a network system, the total length of the network cable is determined by the baud rate. The communication quality cannot be guaranteed if the network cable length exceeds the following cable length limits. The table below presents the guaranteed communication distance when 18 AWG DeviceNet cable is in use (thick cable).

  • Page 16: Device Status And Led Indicators

    Device Status and LED indicators 3 Device Status and LED indicators 3.1 LED Indicators The CANopen communication module has 4 LED indicators. Indicator Color Description Flashes at 1 second intervals when the communication Green module is powered on and the CPU is operating normally (turns on for 500 ms and turns off for 500 ms).
  • Page 17 Device Status and LED indicators Device Indicator LED Signal Possible Cause Resolution Status Flashes Set the FBus ID to a asynchrono MAC ID "CM-7 (FBus ID)" number between 1–127 usly with Setting has been set to "0." and set "CM-94 (COMM the CPU Error Update)"...
  • Page 18 Device Status and LED indicators Device Indicator LED Signal Possible Cause Resolution Status CANopen communication with Flashes CANopen the master device synchronou Pre- is available, but the Normal status sly with the operational connection with the CPU LED master device has not been made yet.

  • Page 19: Canopen Data Communication Protocol

    CANopen Data Communication Protocol 4 CANopen Data Communication Protocol 4.1 CANopen Communication Protocol 4.1.1 CAN-ID The G100 CANopen communication module supports only the CAN2.0A (Standard) protocol. The CAN2.0A protocol uses 11Bit IDs. The figure below shows the configuration of the ID. The table below presents the Broadcast Function codes.

  • Page 20: Sdo Communication

    CANopen Data Communication Protocol Data is transmitted through a variety of Communication Objects (COB) in the CANopen data frame. Process Data Objects (PDO) are used to transmit the data requiring real-time transmission (Real-time data), while Service Data Objects (SDO) are used to transmit the data that does not require real-time transmission.
  • Page 21 CANopen Data Communication Protocol ▶ PDO Transmission Modes • Synchronous transmission PDOs are transmitted according to the SYNC frame. The interval between the two SYNC objects becomes the communication interval. • Asynchronous (Event-driven transmission) transmission PDOs are transmitted according to specific events Synchronous and Asynchronous Transmission ▶...

  • Page 22: Network Management (Nmt) State Machine

    CANopen Data Communication Protocol 4.2 Network Management (NMT) State Machine This command is used by the master device to control the slave devices in the network. The NMT slave devices perform the NMT slave state machine. The devices can be configured only in pre-operational states. The figure below presents the NMT state diagram of a CANopen device.
  • Page 23 CANopen Data Communication Protocol NMT State Transformation Condition Transformation The NMT state is automatically initialized when the powered is supplied. After the NMT state initialization, an automatic transition takes place in a "Pre-operational" state. The device enters an "Operational" state when a Start_Remote_Node command is received from the NMT master device.

  • Page 24: Nmt State "Initialization

    CANopen Data Communication Protocol 4.2.1 NMT State "Initialization" Once power is supplied to a CANopen device or a Reset command is executed, the device automatically enters an "Initialization" state. When the initialization is complete, it enters a "Pre-operational" state. The "Initialization" state can be divided into 3 detailed modes. Sub-State Description The initial status of the communication module which is the...

  • Page 25: Nmt State "Stopped

    CANopen Data Communication Protocol 4.2.4 NMT State "Stopped" When the device enters a "Stopped" state, all communications other than the NMT and Heart for Error Control communications are stopped. In this state, when an Enter_Pre-operational_State command is received from the NMT master device, the device enters a "Pre-operational"...

  • Page 26: Heartbeat Protocol

    The CANopen EDS file is a test file used to control the parameters of the G100 inverter with a Master program such as CANopen Manager. You can download the EDS file from the LS ELECTRIC homepage (https://www.lselectric.co.kr). After downloading the file, copy it to EDS file folder of the Master Configuration...

  • Page 27: Detailed Specification Of Communication Profile Specific Objects

    Detailed Specification of Communication Profile Specific Objects 5 Detailed Specification of Communication Profile Specific Objects 5.1 Device Type The following SDO indicates the device type of the communication module. Index 0x1000 Data type UNSIGNED32 Sub-index 0x00 Access RO (Read-only) 0x00010192 Consisting of two words;...
  • Page 28 Detailed Specification of Communication Profile Specific Objects Note) The table below presents the inverter trips related to Error Register Data Error Register Data Inverter Trip HW Diag Generic trip Fuse Open Generic error External Trip Inverter Overload Trip Current-related trip Over Current1 Current error Ground Trip...

  • Page 29: Predefined Error Field

    Detailed Specification of Communication Profile Specific Objects 5.3 Predefined Error Field The table below presents the information about the current emergency states. Index 0x1003 Data type UNSIGNED32 Object code Object code Sub-index 0x00 Data type UNSIGNED8 Description Number of the errors Access RW (Read/ Write) Read...

  • Page 30: Cob-Id Sync Message

    Detailed Specification of Communication Profile Specific Objects 5.4 COB-ID SYNC Message An SDO that reads and writes the information about the CAN ID of the device (master device) that sends SYNC Messages. SYNC Messages control the action of PDOs whose transmission type is "Synchronous."...

  • Page 31: Manufacturer Hardware Version

    Detailed Specification of Communication Profile Specific Objects 5.6 Manufacturer Hardware Version Version data of the CANopen communication module hardware. Index 0x1009 Data type VISIBLE_STRING (Text string) Sub-index 0x00 Access CONST (Read only data. Unchangeable) CANopen 1.00 (May vary depending on the actual version of Data the hardware) 5.7 Manufacturer Software Version...

  • Page 32: Life Time Factor

    Detailed Specification of Communication Profile Specific Objects 5.9 Life Time Factor This SDO sets the Life Time Factor when using the Node Guarding protocol as the Error Control protocol. Index 0x100D Data type UNSIGNED8 Sub-index 0x00 Access This factor is used to calculate the Node Life Time. It is set to Data "0"...

  • Page 33: Profile

    Profile 6 Profile 6.1 CiA 402 Drive and Motion Control Device Profile Only Velocity Mode is supported for the G100 CANopen communication module. 6.1.1 Finite State Automation The following figure presents the state of the communication module when the CiA 402 Drive and Motion Control device profile is in use.
  • Page 34 Profile The table below presents the inverter operation according to the change of states. Transition Event Action Performs self-diagnosis and Automatic change initializes parameters CANopen communication Automatic change enabled Change to Operation Mode None On receiving the "Switch on" None command On receiving the "Enable Motor drive...

  • Page 35: Cia 402 Sdo

    Profile 6.1.2 CiA 402 SDO ▶ Error codes (Object : 0x603F) When the inverter has tripped, this object is used to identify the type of trip. Index Sub-index Name Type Property Unit Range 0x603F Error code The table below presents the error code numbers that are returned for the inverter trips.
  • Page 36 Profile The Bit composition below presents the bit command of the Control Word. Description Switch on Enable voltage Disable quick stop Enable operation Ramp function generator disable Ramp function generator stop Ramp function generator zero Reset fault Halt Not used Reserved 11~15 Not used...
  • Page 37 Profile The bits between bit 4 and bit 7 are command bits that are operated in Operation Mode. Value Description Maintain the previous operational state 4 (Enable Ramp) Operate the inverter by the command bits Hold the output frequency 5 (Unlock Ramp) Drive up to the target frequency Set the target frequency to "0"...
  • Page 38 Profile Status Word PDS FSA State xxxx xxxx x0xx 0000 Not ready to switch on xxxx xxxx x1xx 0000 Switch on disable xxxx xxxx x01x 0001 Ready to switch on xxxx xxxx x01x 0011 Switch on xxxx xxxx x01x 0111 Operation enabled xxxx xxxx x00x 0111 Quick stop active...
  • Page 39 Profile ▶ vl Control Effort (Object: 0x6044) This object that displays the operation speed of the current motor. If the inverter is operated in "V/F" or "Sensorless" mode, the motor speed is equal to the output speed of the inverter. Index Sub-index Name...
  • Page 40 Profile ▶ vl Velocity Deceleration (Object: 0x6049) This object sets the Deceleration Time. As shown in the following figure, this object determines the deceleration time with a combination of the Delta Speed and Delta Time. The Delta Speed is fixed to the maximum speed to maintain stable inverter operation. Index Sub-index Name...

  • Page 41: Sdo For G100 Inverter Operation

    Profile ▶ vl velocity Quick Stop (Object :0x604A) This object sets the Quick Stop time. As shown in the following figure, this object determines the Quick Stop deceleration time with a combination of the Delta Speed and Delta Time. The Delta Speed is fixed to the maximum speed to maintain stable inverter operation. Index Sub-index Name...
  • Page 42 Profile • Inverter Control Area The inverter control area refers to the common area parameters that are dedicated for control, between the communication addresses 0h380–0h3DF. In CANopen communication, the index value is "0x4001" and the sub-index value is "last two digits of the communication address + 1." Ex.) If the value at communication address "0h0389"...

  • Page 43: Pdo

    Profile 6.2 PDO PDOs for frequency converters are available, within the CiA 402 Drive and Motion Control device profile. 6.2.1 RPDO ▶ RPDO1 Parameter (0x1400) 범위 Index Sub-index Name Type Property Unit RPOD1 Parameter 0x1400 COB ID Transmission Type A COB-ID is the unique CAN ID value of the PDO. The table below presents the transmission type values.

  • Page 44: Rpdo Mapping

    Profile 6.2.2 RPDO MAPPING The G100 CANopen RPDO Map is fixed, and does not allow modification by users. ▶ RPDO1 Mapping(0x1600) Index Sub-index Name Type Property Unit Range PDO Mapping Entry1 0x6040 Control word 0x1600 PDO Mapping Entry2 0x6042 Vl Target Velocity ▶...

  • Page 45: Tpdo

    Profile 6.2.3 TPDO ▶ TPDO1 Parameter(0x1800) Index Sub-index Name Type Property Unit Range TPDO1 Parameter COB ID 0x1800 Transmission Type Inhibit Time Event Timer A COB-ID is the unique CAN ID value of the PDO. The transmission type for the G100 CANopen communication is fixed as 255 (0xFF, Asynchronous).

  • Page 46: Tpdo Mapping

    Profile 6.2.4 TPDO MAPPING The G100 CANopen TPDO map is fixed, and does not allow modification by users. ▶ TPDO1 Mapping (0x1A00) Index Sub-index Name Type Property Unit Range PDO Mapping Entry1 0x6041 Status word 0x1A00 PDO Mapping Entry2 0x6044 Vl Control Effort ▶...

  • Page 47: Inverter Parameters

    Inverter Parameters 7 Inverter Parameters 7.1 List of Related Parameters parameter Code Initial Value Range Name 0. Keypad 1. Fx/Rx-1 Cmd Source 0(Fx/Rx-1) 2. Fx/Rx-2 3. RS485 4. FieldBus 0. Keypad-1 1. Keypad-2 2. V1 3. Reserved Freq Ref Src 0( Keypad-1) 4.
  • Page 48 Inverter Parameters parameter Code Initial Value Range Name 0. (CiA 402 Profile) CM-11 0 (CiA402 Profile) (Frequency Converter PDO1) Parameter2 1. (LS Profile) CM-31 Para Status-1 0x000A 0~0xFFFF CM-32 Para Status-2 0x000E 0~0xFFFF CM-33 Para Status-3 0x000F 0~0xFFFF CM-34 Para Status-4 0x0000 0~0xFFFF CM-51...

  • Page 49: Basic Field Bus Parameters

    Inverter Parameters 7.2 Basic Field Bus Parameters 7.2.1 Set Command Source for the Inverter–Cmd Source (drv) Cmd Source This parameter sets the command source for the inverter operation. Set "drv (Cmd Source)" to "4 (Fieldbus)" to send an operation or stop command to the inverter via the CANopen network communication.

  • Page 50: View Indicator Led States-Fbus Led (Cm-9)

    Inverter Parameters CANopen communication module. The changed station ID will be applied to the CANopen communication module only after you set "CM-94 (Comm Update)" to "1 (Yes)." 7.2.4 View Indicator LED States–Fbus Led (CM-9) This parameter displays the operation status of the four LED indicators (BUS, NODE, ERR, and CPU) on the CANopen communication module.

  • Page 51: Set The Network Speed (Baud Rate)-Opt Parameter1 (Cm-10)

    Inverter Parameters 7.2.6 Set the Network Speed (Baud Rate)–Opt Parameter1 (CM-10) CM-10 Opt Parameter1 CM-94 Comm Update This parameter sets the network speed (baud rate) of a CANopen network. The baud rate can be set from "0 (1 Mbps)" through "7 (10kbps)." When you configure the network speed, the baud rate must be set identically for all the devices connected to the network.

  • Page 52: View Communication Module Version-Fbus S/W Ver (Cm-06)

    Inverter Parameters After making changes to the "CM-11 (Profile Sel)" parameter setting, the ERR LED on the CANopen communication module will flash at twice the interval of the CPU LED. Because a CANopen-related parameter has been changed, you must run a communication update (Comm Update) to apply the changed profile to the CANopen communication module.

  • Page 53: Set Ls Profile Input Address-Para Status 1-4 (Cm-51-54)

    Inverter Parameters 7.3.2 Set LS Profile Input Address–Para Status 1–4 (CM-51–54) CM-11 Profile Sel CM-51~54 Input 1~4 You can configure four addresses (Para Control 1–4) to receive data values transmitted from the master device via the RPDO3 (Receive PDO) and utilize the data for operating the inverter.

  • Page 54: Command Loss Decision Time-Lost Cmd Time (Pr-13)

    Inverter Parameters Set value Description The inverter continues operating according to the speed Hold Input reference input received before the loss of speed. The inverter continues operating according to the frequency Hold Output reference received before the loss of speed. The inverter operates at the frequency set at "Pr-14 (Lost Lost Preset Preset F)."...
  • Page 55 After purchasing and installing the product, fill out the following information in detail. This information can be used to get the benefits of a warranty when the product becomes faulty during the warranty period. Date of Maker LS ELECTRIC Co., Ltd. Installation Warranty Model No. CCAN-G100...
  • Page 56 OUT-OF WARRANTY service information The guarantee will not apply in the following cases, even if the guarantee term has not expired. • Damage was caused by misuse, negligence or accident. • Damage was caused by abnormal voltage and peripheral devices’ malfunction (failure).

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