altivar 31 modbus canopen - gongkongdownload.gongkong.com/file/company/14620/atv31_communication...
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Altivar 31
Modbus !CANopen ! !"#$%
1
Modbus
______________________________________________________________________________________________________ 1-3
RS485 __________________________________________________________________________________________ 1-4Modbus _______________________________________________________________________________________________ 1-9
: RS485 14 ________________________________________________________________________________ 1-14
CANopen
______________________________________________________________________________________________________ 2-3
__________________________________________________________________________________________________ 2-4 _____________________________________________________________________________________________________ 2-10
_________________________________________________________________________________________________ 2-11 _________________________________________________________________________________________________ 2-12
PL7 SyCon ______________________________________________________________________________ 2-15 _________________________________________________________________________________________________ 2-24 _________________________________________________________________________________________________ 2-37
______________________________________________________________________________________________________ 3-3 _______________________________________________________________________________________________ 3-5
LINE ( ) ________________________________________________________________________________ 3-6 ________________________________________________________________________________________________ 3-10
DRIVECOM ___________________________________________________________________________________________ 3-11 _________________________________________________________________________________________________ 3-14 _________________________________________________________________________________________________ 3-16 _________________________________________________________________________________________________ 3-22
____________________________________________________________________________________________ 3-23 ATV31 ATV28 _____________________________________________________________________________________ 3-51
_________________________________________________________________________________________________ 3-52
SA !"#$%&'()*+,-./01/23456789:;<"#=">
?@A&BCDEDFGH8IJK!45LMNOPQR>-IJ8STUVW"#XYZ[>
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Altivar 31
Modbus
!
1-1
1-2
______________________________________________________________________________________________________ 1-3 RS485 __________________________________________________________________________________________ 1-4
Modbus _______________________________________________________________________________________________ 1-9 : RS485 14 ________________________________________________________________________________ 1-14
SA !"#$%&'()*+,-./01/23456789:;<"#=">
?@A&BCDEDFGH8IJK!45LMNOPQR>-IJ8STUVW"#XYZ[>
1-3
Altivar 31 \8 Modbus ]^4_/._`a5 :
• bc • dc • ef • gh
ATV31 ijklm :• 2 n RS485 opq • RTU rstE
uvwxyz|823~4/8 Modbus >iuv~CtE_4n8 Altivar 31 8i&>
1-4
RS485
ATV311 (8IJ )>
RJ45 k ATV31 k\>
• /¡! 2 -¢£¤¥vn8 Telemecanique (¦§ : TSXCSA100, TSXCSA200, TSXCSA500)> • m Modbus yR¨©8ª« (¬ 30 cm)> • Modbus &R¨®¯°±M²³1´µ³> • ¢£qy¶·d¸8¹n>
Nº23» TSX DG KBL E ¼v : B½¾&¿Àn8ÁÂÃZ>
RS485
RS485 ÄÅÆÇ_`ÈZ!GÉ :• ÊË • nÌÍk • ÎÅÏ8Ðb • ?Ñ • nÒÓ
2002 Ô Modbus.org ÑÕ\Ö×8Ø8 Modbus ÙÚÛÜÝÅÞ¹~G!ßàÈZ> ·á (ÄÅâpã ) U-äåæçè>Ø8 Telemecanique d¸éêäÙÚ>
ëàd¸ /8ìíî8ÙÚ>ïð /¬ñò8ÙÚ~ :• Uni-Telway âpã (14 ó )• Jbus âpã (15 ó )
´ÂÃÉ8ôõG1ö÷8øùUúû :•üêEâpã (16 ó )
RJ45 k
1-5
RS485
ÄÅâpã-1. Modbus.org ÑÕ\Ö×8 Modbus ýþÙÚ (Modbus_over_serial_line_V1.pdf 2002 Ô 11 )Èì 2 nºÕn>
ATV31 ijkéêäÙÚ>
âpã :
¦ ! 1 -¤¥n& 1 ðvn8¢£
n¬ÒÓ / Telemecanique TSX CSA 19200 bps ´ 1000 m
¬Ñ (Wk ) 32 ðÑ?Ñ 31 ð
Ð̬ÒÓ • ·ÐÌ´ 20 m• 40 m _\ÐÌ8
nÊË • 5V ·ð 450 650 Ω ` ( / 650 Ω )• Í·ð 450 650 Ω ` ( / 650 Ω )äÊËõ/.Ñ>
nÌÍk ·ð 120 Ω , 0.25 W . 1nF 10 V Ãk
ÍÊZ Yes (Í )n·ÕPºÕ*¹
Ñ
?Ñ 1 ?Ñ n
1-6
RS485
RJ45
1 Ñ (PLC, PC Pt )
2 V.Ѧ8 Modbus (»` )
3
Modbus Ðn LU9 GC3
4
ModbusÐ VW3 A8 306 R
5 nÌÍk VW3 A8 306 RC
6
Modbus VW3 A8 306 TF ( )
7 Modbus (Ðn ) TSX CSA 00
Modbus Ðn 10 ð RJ45 k& 1 ð !Í" LU9 GC3
Modbus !#7 (0.3 m) VW3 A8 306 TF03!#7 (1 m) VW3 A8 306 TF10
nÌÍk /. RJ45 k R = 120 Ω , C = 1 nF VW3 A8 306 RC
R = 150
Ω
($%/. Jbus âpã 15 ó ) VW3 A8 306 R
! m
"
Modbus n
3 1 ð RJ45 k& 1 ð&'8nÍ VW3 A8 306 D30
0.3 2 ð RJ45 k VW3 A8 306 R03
1 2 ð RJ45 k VW3 A8 306 R10
3 2 ð RJ45 k VW3 A8 306 R30
RS 485 ¤¢£¤¥
100 ()k TSX CSA 100
200 ()k TSX CSA 200
500 ()k TSX CSA 500
#$% #$& '( RJ45 ) Modbus
Twido PLC
*bkP+¦ DIN RS485 ,t
b!·ð+¦ DIN k&·ð RJ45 k8 3 m TWD XCA RJ030
*bkP -Í" RS485 ,t
b!·ð RJ45 k,.·Í&'8 3 m VW3 A8 306 D30
TSX Micro PLC +¦ DIN RS485 kÍ, b!·ð+¦ DIN k&·ð RJ45 k8 3 m TWD XCA RJ030PCMCIA / (TSX SCP114) &' TSX SCP CM 4030
TSX Premium PLC TSX SCY 11601 P TSX SCY 21601 t (SUB-D 25 ]^ )
b!·ð SUB-D 25 k,.·Í&'8 (/. LU9GC3 Ðn8 -Í" )
TSX SCY CM 6030
PCMCIA / (TSX SCP114) &' TSX SCP CM 4030 Ethernet bridge
(174 CEV 300 10) -Í" RS485 b!·ð RJ45 k,.·Í&'8 3 m VW3 A8 306 D30
Profibus DP ¾ (LA9P307)
RJ45 RS485 1 m b 2 ð RJ45 k VW3 P07 306 R10
Fipio (LUFP1) P Profibus DP (LUFP7) P DeviceNet (LUFP9) ¾
RJ45 RS485 0.3 m b 2 ð RJ45 kP 1 m b 2 ð RJ45 kP 3 m b 2 ð RJ45 k
VW3 A8 306 R03 P VW3 A8 306 R10 P VW3 A8 306 R30
æÍ, PC SUB-D 9 RS232 æÍ, PC
RS232/RS485 0Ok&b!·ð RJ45 k,.·Í&'8 3 m (/. LU9GC3 Ðn8 -Í" )
TSX SCA 72 & VW3 A8 306 D30
1-7
RS485
*+
1 Ñ (PLC, PC Pt )
2 V.Ѧ8 Modbus
3
Modbus TSX CSA 00
4 Ð TSX SCA 50
5 S/0]^ TSX SCA 62
6
Modbus Ð VW3 A8 306
7 Modbus Ð VW3 A8 306 D30
*+ 3 ð -Í"& 1 ð RC nÌÍk1 / VW3 A8 306 D30
TSX SCA 50
(,-. 2 ð 15 Ì SUB-D 2k 2 ð -Í" RC nÌÍk1 / VW3 A8 306 P VW3 A8 306 D30
TSX SCA 62
! m
"
Modbus 3 1 ð RJ45 k& 1 ð&'8nÍ VW3 A8 306 D30
5 1 ð RJ45 k& 1 ð 15 Ì SUB-D k/. TSX SCA 62 VW3 A8 306
VW3 A8 306
RS 485 ¤¢£¤¥ 100 ()k TSX CSA 100
200 ()k TSX CSA 200
500 ()k TSX CSA 500
#$% #$& /(0123*+) Modbus
Twido PLC *bkP -Í" RS485 ,t
Modbus TSX CSA 100 P TSX CSA 200 P TSX CSA 500
TSX Micro PLC +¦ DIN RS485 kÍ, Ð TSX P ACC 01
PCMCIA / (TSX SCP114) b!·ð$/k,.·Í&'8 TSX SCP CU 4030
TSX Premium PLC TSX SCY 11601 P TSX SCY 21601 t (SUB-D 25 ]^ )
b!·ð SUB-D 25 k,.·Í&'8 TSX SCY CM 6030
PCMCIA / (TSX SCP114) b!·ð$/k,.·Í&'8 TSX SCP CU 4030
_3¾4 (174 CEV 300 10)
-Í" RS485 Modbus TSX CSA 100 P TSX CSA 200 P TSX CSA 500
Profibus DP ¾
(LA9P307)
RJ45 RS485 b!·ð RJ45 k,.·Í&'8 3m VW3 A8 306 D30
Fipio (LUFP1) P Profibus DP (LUFP7) P DeviceNet (LUFP9) ¾
RJ45 RS485 b!·ð RJ45 k,.·Í&'8 3m VW3 A8 306 R03
æÍ, PC SUB-D 9 Ì RS232 æÍ, PC
RS232/RS485 0Ok& Modbus TSX SCA 72 & TSX CSA 100 P TSX CSA 200 P TSX CSA 500
1-8
RS485
0123
#$% #$& /( SUB-D 15 *+) Modbus
Twido PLC *bkP -Í" RS485 ,t
- -
TSX Micro PLC +¦ DIN RS485 kÍ, - - PCMCIA / (TSX SCP114) b!·ð$/k&.·ð SUB-D25 k
8 TSX SCP CU 4530
TSX Premium PLC TSX SCY 11601 P TSX SCY 21601 t (SUB-D 25 ]^ )
b!·ð SUB-D 25 k,.·Í&'8
TSX SCP CU 4530
PCMCIA / (TSX SCP114) b!·ð$/k,.·Í&'8 TSX SCY CU 4530
_3¾4 (174 CEV 300 10)
-Í" RS485 - -
Profibus DP ¾ (LA9P307)
RJ45 RS485 - -
Fipio ¾ (LUFP1) P Profibus DP ¾ (LUFP7)
RJ45 RS485 b!·ð RJ45 k&.·ð SUB-D25 k8 3m
VW3 A8 306
æÍ, PC SUB-D 9 RS232 æÍ, PC - -
nÌÍk /. -Í" R = 120 Ω , C = 1 nF VW3 A8 306 DRC
R = 150
Ω
($%/. Jbus âpã 15 ó ) VW3 A8 306 DR
! m
"
Modbus n 3 1 ð RJ45 k& 1 ð&'8nÍ VW3 A8 306 D30
RS 485 ¤¢£¤¥ 100 ()k TSX CSA 100
200 ()k TSX CSA 200
500 ()k TSX CSA 500
1-9
Modbus
45
6789:;
æÌbc4?5 åæ>
(1) 678Í9ßà:`BC>
RTU
<=G /8rstE´ RTU tE>;wx<<=>?Ux<>?@A>BCD` :
E_FåfGHrs> CRC16: IJKLMN>û¿.PO. 3 >é©PMQh´;8@R>
45
Modbus ôõ´ -?Eôõ>
?Ñ)©5åæµ>
´åæ?Ñ©8S®¯1/TdU´u·ð?ÑÖûVGWEÖX?Ñ8DE>
Ñ&?Ñ)©4_åæï-Y :
• Ñu?ÑÖZ·ðù+O[\1 • ]uG!?ÑÖZ·ðùÝO[\1 (ñ^â_ )
>?
• ijk8 Modbus ¹`4 1 247 )©bc> • ÑGÖù8¹` 0 a/.ñ^> ATV 31 ijkbcäùb-\1>
@A BC)D E2FG HID
>? 1 247 001 247 1
dÓ 4800 bps9600 bps19200 bps (1)
4.89.619.2
19200 bps
eE 8 ðEÏfMN 1 ðghÏ 8 ðEÏiMN 1 ðghÏ (1)8 ðEÏWMN 1 ðghÏ 8 ðEÏWMN 2 ðghÏ
8O18E18n18n2
8E1
J$>? KLMN AO CRC16
COM-
Add
tbr
tFO
Ñ"#MjnÌ\k5!·ðd¸åæÖZ>Ñ-°Oåælpk!m¡!vnmop-?Ñåæq> rstùu_"#?Ñv5ÖZ<>Ñ23°OwÞMbxÖDyúB8Máz !W"#\1_×Gq8?Ñ|:>Dy?Ñ5pë·<_muÑÖZ·ð~|1>Ñ45bxù>
Master
J$ i J$ kJ$ j
1-10
Modbus
45
Modbus
PC`úû Altivar 31 lp8 Modbus a5+úûf:>a5vì?Ñ8³Ó\BC8>
Q N RSTU : PC 3V : Hi = Ï>? Lo =Ï>?
äa54/.G! ATV 31 >ws>&sû>>
ù
\1
: ?Ñ 2 ? W3102 W3105 (16#0C1E 16#0C21) 8 4 ð> /a5 3 :
• SF4 = 'j = 4 kHz (W3102 = 16#0028)• tFr = ¬sûj = 60 Hz (W3103 = 16#0258)• HSP = d = 50 Hz (W3104 = 16#01F4)• LSP = d = 0 Hz (W3105 = 16#0000)
WXRSTU : PC 6ù&\1 (;eE|É )
: : 16#000D ?Ñ 2 8 W9001 > (16#2329) (ACC = 13 s)>
MN (YZ[ )
PC\] ^_ N )`aD Modbus \
3 N ðsû> u ¬Ò 29 ð> mk 6 ·ðsû> ì - ck
16 N ðsû> ì ¬Ò 29 ð> cºk 43 Ä u - d¸Ä
?ѧ 03 >§ 18> CRC16
Hi
Lo Hi Lo Lo Hi
1 >? 1 >? 2 >? 2 >? 2 >?
?ѧ 03 >? >: ------- ¬>: CRC16 Hi Lo Hi Lo Lo Hi
1 >? 1 >? 1 >? 2 >? 2 >? 2 >?
ù 02 03 0C1E 0004 276C
\1 02 03 08 0028 0258 01F4 0000 52B0
: : W3102 W3103 W3104 W3105
: SFr tFr HSP LSP
?ѧ 06 18> >8: CRC16 Hi Lo Hi Lo Lo Hi
1 >? 1 >? 2 >? 2 >? 2 >?
ù&\1 02 06 2329 000D 9270
1-11
Modbus
45
b : PC 43 ( 16 # 2B )ù
\1
\1O. 48 >?>
\1Gwx8ð--1._`- :
V : -a5 43 8\145w\1ä``óúû8\1ì Altivar 31 Ýì\H\1Öû>
?ѧ 2B MEI ¦ 0E
d¸ ID01
- ID00
CRC16
Lo Hi
1 >? 1 >? 1 >? 1 >? 1 >? 2 >?
?ѧ 2B MEI ¦ 0E
d¸ ID01
·ZO 02
-------
1 >? 1 >? 1 >? 1 >? 1 >?
------- ;§ 00
`·- ID00
-§ 03
-------
1 >? 1 >? 1 >?
-------
1 §- ID00
1 §-ÒÓ 0D
1 §-8: Telemecanique
-------
1 >? 1 >? 13 >?
-------
2 §- ID01
2 §-ÒÓ 0F
2 §-8: ATV31HU09M3S232
-------
1 >? 1 >? 15 >?
-------
3 §- ID02
3 §-ÒÓ 04
3 §-8: 0201
-------
1 >? 1 >? 4 >?
-------
CRC16
Lo Hi
1 >? 1 >?
•
Object no. 1: f6 (ì Telemecanique 13 >? )> •
Object no. 2: d¸¦§ (ASCII >éD ATV31HU09M3S232 15 >? )>
•
Object no. 3: d¸_ MMmm8eE MMGVB" mmGpVB" (4 >? ASCII >éD 0201G 2.1)>
1-12
Modbus
45
w\1
: 1 Modbus Ñ8ù?Ñ 2 D`DE-¡¢åæÄ :• f6 = Telemecanique (13 >? )• d¸ = "ATV31HU09M3S232" (15 >? )• d¸ = 0201" (4 >? )
W N RSTU : PC 16 (16 # 10)ù
\1
: : 20 & 30 ?Ñ 2 8 W4043 & W4044 >> (ACC = 20 s & DEC = 30 s)
?ѧ 2B+80AB
MEI ¦ 0E
'(GH 00 02
CRC16
Lo Hi
1 >? 1 >? 1 >? 1 >? 1 >? 1 >?
'(GH : • 16#00 = W'( • 16#01 = ùwx8 Request code (16#2B) (ùGH ) Type of MEI (16#0E) (MEI ¦ ) P
ReadDeviceId (16#01) (d ID)wÞ • 16#02 = ùwx8 Object Id (16#00) (- ID) wÞ
ù 02 2B 0E 01 00 3477
\1 02 2B 0E 02 02 00 00 03 -------
-------
00 0D 54 45 4C 45 4D 45 43 41 4E 49 51 55 45
-------
-------
01 0F 41 54 56 33 31 48 55 30 39 4D 33 53 32 33 32
-------
-------
02 04 30 32 30 31 A80F
?ѧ 10 >§ >§ >?§ >: ------- CRC16
Hi Lo Hi Lo Lo Hi
1 >? 1 >? 2 >? 2 >? 1 >? 2 >? 2 >?
?ѧ 10 >§ 18> CRC16
Hi Lo Hi Lo Lo Hi
1 >? 1 >? 2 >? 2 >? 2 >?
ù 02 10 0FCB 0002 04 0014 001E 30F4
\1 02 10 0FCB 0002 3311
1-13
Modbus
45
cdef
£?Ñ5¤7ÑGÖZ8ùMmbÖZ·ð~\1>
~\18eE´ :
efMN : ùa5GH + 16#80>
ghMN : 1 = ?Ñ5Gù8a5 2 = ùGúû8¥ÈP>8¹`?Ñ> 3 = ùGúû8¥ÈP>8:?ÑÆÇ> 4 = ?Ñ'¦§æù5¨¤7©ù>
CRC16 ij_`Dª-G!<>?U« CRC16:
¬¦Ë CRC (16 Ïk ) 16#FFFF>
<? 1 ¬·ð>?IJ'¦ :
Gst8 CRC b_®ÏÏ8¯°ÖZ (y Modbus ;8EÉ )>
XOR = ~P>
?ѧ \1GH '(GH CRC16
Lo Hi
1 >? 1 >? 1 >? 2 >?
CRC XOR <byte>-->CRC
IJ'¦ 8 p
CRC ±²·Ï
DysûÏ = 1_ CRC XOR 16#A001-->CRC
IJ@R
IJ@R
1-14
: k RS485
Uni-Telway
Telemecanique ijk&T³Rk (ATV58, ATV28 O ) / Uni-Telway nâpã>âpã :
lm% 2 nopqr)n¬ÒÓ 19200 bps 1000 m
¬Ñ (Wk ) 29 ðÑ?Ñ 28 ðÐ̬ÒÓ • 20 m
• 40 m _\ÐÌ8nÊË -.Ñ&¶·ð?Ñ :
• 5V ·ð 4.7 k Ω ` • 0VL ·ð 4.7 k Ω
nÌÍk ·ð 120 Ω , 0.25 W . 1nF 10 V ÃkÍÊZ Yes (0 VL) &¶ðÑc. 0 VL &¹)©
Ñ
?Ñ 1 ?Ñ n
1-15
: k RS485
Jbus
âpã :
lm% 1 nopqr)
n¬ÒÓ 19200 bps 1300 m¬Ñ (Wk ) 32 ðÑ?Ñ 31 ð
Ð̬ÒÓ 3mnÊË 5V ·ð 470 k Ω `
0V ·ð 470 k Ω `äÊËÑúû>
nÌÍk ·ð 150 Ω kÍÊZ No
?Ñ 1 ?Ñ n
Ñ
1-16
: k RS485
st
! 4.7 k Ω ÊË8?Ñ4#7ÄÅâpã>®¯U«ê*8ÊË: (Rp)>
âpã :
• ´U«ÊË: (Rp)®¯G!ÑÕÊË´´+>
u :Dyn Rp ÊË 470 Ω (zÑ ) 2 ð?Ñ¡! 4700 Ω 8ÊË:_OµÊË:´ :1/Re = 1/470 + 1/4700 + 1/4700Re = 1/ (1/470 + 1/4700 + 1/4700)߶ Re = 390 Ω > 390
Ω
. 162 Ω âpãwÞ>
´·p¸8OµÊË: (650 Ω )4_z Rp nÊË_ :1/650 = 1/Rp + 1/4700 + 1/4700Rp = 1/ (1/650 - 1/4700 - 1/4700)߶ Rp = 587 Ω >
• DyÑb! 470 Ω ÊË_¬º4_ 4.7 k Ω ÊË8?Ñ 18 ð>
lm% v 1 wopxy 1 Rz|)qrn¬ÒÓ 19200 bps 1000 m¬Ñ (Wk )
¬º4· 32 ðÑ?Ñ· 31 ð (¹E Rp & 4.7 k Ω 8ÞB )
Ð̬ÒÓ • ·ÐÌ 20 m• 40 m _\ÐÌ8
nÊË • 5V (Rp) ·ð` • Í (Rp) ·ð`äÊËÑúû> Rp :1¹EÑ&?Ñ8ÊËU«OµÊË: (Re) åæÞº (PÞB )> Re 8:®¯ 162 Ω & 650 Ω (: : 650 Ω )>
nÌÍk ·ð 120 Ω , 0.25 W . 1nF 10 V ÃkÍÊZ Yes (Í )
Ñ
?Ñ 1 ?Ñ n
####
####
####
Altivar 31
CANopen
!
2-1
2-2
»¼ ______________________________________________________________________________________________________ 2-3½dc __________________________________________________________________________________________________ 2-4bc _____________________________________________________________________________________________________ 2-102§¼7 _________________________________________________________________________________________________ 2-11Tdc _________________________________________________________________________________________________ 2-12 / PL7 & SyCon åæTdc _____________________________________________________________________________ 2-15ST _________________________________________________________________________________________________ 2-24->¾ _________________________________________________________________________________________________ 2-37
~WlV SA lvxghw(,f(l ¡BC¢£)gh¤¥¦§¨©ª
«¬l®)¯°x±²BJ³´)µ¶T·¸BJ¹º»=T·¼½¾¿¤ÀÁBCÂtÃÄ®ª
2-3
ÅÆ
@¿ :
• £»/0ÀÁST Altivar 31 8 CANopen ,8 /Dª>
• Ù½dB»zÀÁ>
• a5&i8¤ÂST»ÀÁ>
• /0ÀÁÃiÄST :- ijkæ´ (ÅÆBCtE ...)- &i8ÇZ (¹`ÏGHST ...)>
£»/0ÀÁST Altivar 31 8 Heartbeat>ä94/. V1.2 _\>
2-4
ÇÈ;
ATV 31 ÅÉÊ
ATV 31
ppppp
A »FÈ
u :
1 ÉÊ LED ÕË ( zé§ ) 7µÌ2n»Í>
2
1 ð 4 ÏÎá67¢>
3 Ï8Í (úÏU9 ATV 31 ppppp A \Ð( )>
4 RUN (Ñæ ) Ò/.w0tE`³RÓ (9 ATV 31 ppppp A)>
5 STOP/RESETÒ/. ÓgÓ+Ï£»ÔÕ (9 ATV 31 ppppp A)>
6 ä»FÈÖ1ø /×>PØÙ ÚÛÜ-ijk»FÈåæÖBPÖ>
7 ßïð LED wijk 4 Ï67¢)z/.¼7 CANopen n\8ÅÆ ( RUN ) &·ÝÔÕ ( ERR )>
Altivar 31
RUN
ESC
ENT
STOP
RESET
RUN
ERR
CAN
1
2
4
3
5
7
6
2-5
ÇÈ;
CANopen
:;Ëu`ãúû / 4 ð ATV 31 8ãm /·ð CANopen Ñ PCMCIA / (TSX CPP 100) ·ðÑ PLC Premium>
4?IJÞßܤ7d¸>
ATV 31 CANopen Ðk´WàÐk (¦§ : VW3 CAN TAP 2) /zá! 5 ð -Í"8 2 ðk CANopen ân\> 2 ð RJ45 k4_ ATV 31 CANopen Ðn 2 ð Altivar 31> 1 ð RJ45 kdU/.ßïð Altivar 31 y PowerSuite (/. PCP Pocket PC8ãÑæT ) )©ä£,>
Dyk!·ð ATV 31 Ðk\_m1å! ATV1Äæ8k\>Dy 2 ð ATV 31_ PowerSuite ºÕtE`4_-ïðijkåæç`>ijk8 Modbus ¹`®¯!Gè>
é8Í (VW3 A31101) U4_ PowerSuitek\ß`k5·ð ATV 31 ijk CANopen Ðk (å! ATV18]=\ )>
ATV 31 CANopen Ðnì·b! 2 ð RJ45 k8>m4_!ïÒÓ : 0.3 m & 1 m (¦§ : VW3 CAN CA RR1)>
1 Mbits/s d8 CANopen ¾êk5 / 0.3 m Ðn>
MODICONTSX CPP ACC 1TELM
A B
MODICON EB 534 TELM
1 2
MODICON EB 534 TELM
1 2
TSX CPP ACC1
Master PLC+ TSX CPP 100
Altivar 31
2170272T 2170272T
EB 534 EB 534
PowerSuite
CANopen ân
CANopen ân
ATV 31 CANopen Ðk VW3 CAN TAP 2
ATV 31 Ðn VW3 CAN CA RR
p
#$ PLC+ TSX CPP 100
2-6
ÇÈ;
ATV 31 CANopen
* (VW3 CAN TAP2)
Legend:
1 ëìB ! 2 ATV1 RJ45 2k®¯·ð Altivar 31 ijk\> 3 ATV1 RJ45 2k®¯Fð Altivar 31 ijk (Dy!8Y ) \>Dy·ðé8Í PowerSuitek\_ø /m>
4 PowerSuite RJ45 2k4 PowerSuite (PC P Pocket PC) Pé8Í> 5 /. (ON) Pí' (OFF) znÌÍ (120 Ω ) 8'> 6 /.îÊ /ïʹvn8nð> 7
CANopen Í"ñ´nÌÈ\Ä! S4 & S5>
8
fl 4 -ò/.ÙÈPFÈ\zÐk (zª« 60 mm)> 9 ân¢£q8¹È> 10 /. CANopen ân8',> 11 /.îÊ /ïʹn8',>
@´ã z´ã
1
ATV1 ATV2
PowerSuite
S1 S2
S3
ON
S4 S5
OFF
2 3
4
2
4
7
9
8
10
3
57
6
9
8
11
10
2-7
ÇÈ;
ÁÌ" ATV 31 CANopen *"b! 2 ð RJ45 k (VW3 CAN CA RR 03 P VW3 CAN CA RR 1) 8nijk8 RJ45 k& ATV 31 CANopen Ðk (VW3 CAN TAP 2) \8 ATV1P ATV2 RJ45 2k>
Dyk!·ð Altivar 31 ATV 31 CANopen Ðk\_®¯ / ATV1k>
ATV1ATV2
Power
Suite
2-8
ÇÈ;
CANopen
*"È;
ÄÍÎÏ :• 2.5 mm ØÙ ÚÛ> • PZ01 ×>Ý, ÚÛ>
Ð :V : _`Gú8>-1.ÐkST8>> • / PZ01 ÚÛó' ! 1>ô'ë> • ÐkÎõìBlö\ :
- ·ð AM1-DP200 P AM1-DE 200 DIN v÷ - Pø / 2 ð M4 ! ( 20 mm Ò ) ìBÙÈPFÈ\>
• Ÿân 20 & 21D`óG7>
• ¹n² 22 ìB\8wÞÏc>
• ìB¹ 23>
• ânÍ"ñ 7 \D`ùóG7> / 2.5 mm ØÙ ÚÛ>Í"ñ !8 -¨ú y 0.25 N.m>
• / ! 19 &×>Ý, ÚÛ (PZ01) ó`¹n²&>
• îÊ /ïʹvnnð 6 \>
• /ûün²ìB>
• DyøùÍ_1Ïc+R'c. ONDWøù_1c. OFF>
• ë\8ëðÝ`_ 5ýþ>
• NOëÈ+ /×>Ý, ÚÛ (PZ01) ìBÏ>
20
19
22
23
21
7
6
2-9
ÇÈ;
#
ÑÒ|
RJ45
"l)-Ó
(2)
Modbus 2§ (3)
RS232 / RS485 0OkPé8Í8à
] 2§ vnÊ ST 1 GND Ê ¹ 2 CAN_L Ê CAN_L nnÌ 3 SHLD
(¢£q ) 4Þ8¢£q
4 CAN_H Ê CAN_H nnÌ 5 (V+) ÉÊ 4Þ8à (1)
(1)Dy CANopen ! 4 (ÉÊ ) vn_1] 5 \_ V+ 4Þ2§ CANopen Ñ>
ATV1 ATV2 PowerSuite] 2§ ] 2§ ] 2§ 1 CAN_H 1 CAN_H 1 2 CAN_L 2 CAN_L 2 3 CAN_GND 3 CAN_GND 3 4 D1 (2) 4 D1 (2) 4 D1 (2)
5 D0 (2) 5 D0 (2) 5 D0 (2)
6 6 6 7 VP (3) 7 7 VP (3)
8 (2) 8 (2) 8 (2)
8 mm 8 mm
54 mm
Shielding
S1 S2
S3
ON
S4 S5
OFF
1 2 3 4 5
GNDCAN_L
SHLD
CAN_H(V+)
8........................1
2-10
:;
Altivar 31 8 CANopen a58bc4_?5 >
äbck5ÓgÓ,ijkÖBMåæ>"#Qk5ijk8·pR¨IJ (íV ) 5µ>
äÃ/0ÀÁÄ ´ Node-ID (?ÕÄé )>
ä8 º: (0) bh Altivar 31 8 CANopen >ÔÕÖ( Altivar 31 ×) CANopenØÙÚ È;ÔXRkÛ)Dª
8:yG! CANopen n\8d¸dÓ|b>
ä)@n8¬ÒÓV.dÓ>`úû£ Altivar 31 c. CANopen n\M¹EdÓ8¬nÒÓ :
·àúûN8:mk*/. !«8 CANopen d¸>. ATV 31 8 CANopen ,8«\Gúû8ÒÓøù®¯>
1,000 kbits/s d`Ðn8ÒÓ®¯f 0.3 m>
@A BCD E2FG HID CANopen ¹`
0 127 0
CANopen dÓ
0,010 kbits/s20 kbits/s50 kbits/s
125 kbits/s250 kbits/s500 kbits/s
1,000 kbits/s
0
.
. .
.
.
.
125 kbits/s
dÓ 10 kbits/s 20 kbits/s 50 kbits/s 125 kbits/s 250 kbits/s 500 kbits/s 1,000 kbits/sn¬ÒÓ 5,000 m 2,500 m 1,000 m 500 m 250 m 100 m 5 m
2-11
ÒG
Altivar 31 4 ÏÎá»FÈ67¢±8ïð2§¼7 LED /.¼7 CANopen8ÅÆ>
à LED ÜÝ) :
LED
ÜÝ Altivar 31 / CANopen ÜÝ
CANopen efk*. OFF ( ) ÅÆ
Altivar 31 *. STOPPED (gÓ ) ÅÆ
Altivar 31 *. PRE-OPERATIONAL (Ñæ ) ÅÆ
Altivar 31
Þ OPERATIONALß (à7 ) ÜÝ
áâãgh
Altivar 31 8 CANopen efk<8 WARNING ( ) (D'(;º )
.û¿?ÕPÝv8 ERROR ('( )
CANopen efk*. bus-off (n ) ÅÆ>
LED
ÜÝ LED ÜÝ)Bäå
LED ´ æç
LED ´ èé (200 ms ON and 1 second OFF)
LED ´ oé (200 ms ON, 200 ms OFF, 200 ms ON, and 1 second OFF)
LED _ 2.5 Hz j éê (200 ms ON & 200 ms OFF)
LED ´ ë
2-12
ìÈ;
íî
ïíî
Altivar 31 8ÈÎ. : • CAN 2.A;• CANopen ýþÙÚ (DS301 V4.02)>
<8ËeE :
Nº23 Can In Automation ¾Ñ : http://www.can-cia.de>
PCíî
Altivar 31 8a5Èéê : • ijk&ÑRefd¸È (DSP-402 V2.0dÓtE ) • Drivecom È (21)>
Drivecom & CANopen DSP402 ìÂÃ8>
Äé (11 Ï ) /0E (¬ÒÓ 8 >? ) COB-ID 0 >? 1 >? 2 >? 3 >? 4 >? 5 >? 6 >? 7 >?
2-13
ìÈ;
Bðñ)òó
PDO (Process Data ObjectsAOwô ) PDO </.°Oy|8ME>
PLC b PDO !Z¹"Øs&sû ( !Zi )>
Altivar 31 !ï#BC8 PDO:
• ·# PDO (PDO 1 $f*/.G!tE ) w :- ·ðW8 PDO/.ef (ef> CMDD ) ijk - ·ðÖZ8 PDO/.ef (ÅÆ> ETAD ) ijk
PDO 1 ´~%,rs8 PDO 9E:QiMÖZ>
• 2 # PDO (PDO 6 /.dÓtE ) w :- ·ðW8 PDO/0efijk (ef> CMDD&dÓúB: LFRD )ä@m4bc´wïðief> CMDD&dÓúB: LFRDU4_"#ïð!n8i&O
- ·ðÖZ8 PDO/.geijk (ÅÆ> ETAD&dÓ: RFRD )ä@m4bc´wïðiÅÆ> ETAD&dÓ: RFRDU4_"#ïði&O
PDO 6 8tE4_/0¹E1øåædc : ~% (-. PDO 1) PIJEÎ.É%- (SYNC) 8c>ä@'! 3 tErIJ~%DEäDE"#MjkøE:ÖQi_Grs8 PDO ÖZ9 SYNC -ÆÇÉ%(,!©4_åæ>É%tE` Inhibit time (hM© ) & Event timer (UMk ) 4_åæQ>
SDO (Service Data ObjectsòóAOwô ) SDO </.bc&dc> PLC 4 SDO ¿rIJ)3rZ>
Altivar 31 lp 1 ð SDO! 2 ð COB-ID Ä :• 1 ð/.ù ( PLC ÖZ/. Altivar 31) • 1 ð/.1* (< Altivar 31 ÖZX PLC)Altivar 31 lmárs>
õòó
• ºÄéBC (COB - ID)¹E¹` • NMT : Start_Remote_Node (16#01), Start_Remote_Node (16#02), Enter_Pre_Operational (16#80), Reset_Node (16#81),
Reset_Communication (16#82) • COB-ID 0 ñ^W • Heartbeat (+R ) - (9*/. Altivar 31 V1.2 _\ ) • ?Õ- • ,- (EMCY) • SYNC /. 2 # PDO (PDO 6)>
B(òó
• M©-- (TIME)
×>? (Node-ID)
Node-ID
= CANopen n\ijk8¹`>
Client (.0Í ) ¼BuijkÖZ<8/ (D : PLC)>
2-14
ìÈ;
Äö÷bø) (COB - IDs)/0ÀÁ80 ÐÄéb COB - ID (OO ) 1/>
Altivar 31 lm¡R¼B COB-IDs / CANopen ¹`U« (9*/. PDO1 8 PDO)>
Ò| COB-ID
.0Í C ijk 000 (16#000) ¾êlp (NMT)
.0Í C ijk 128 (16#080) SYNChronisation (SYNC)
.0Í C ijk 12816#080 + Node-ID , (EMCY)
.0Í B ijk 38416#180 + Node-ID ijkge (PDO 1 ÖZ8 PDO)
.0Í C ijk 51216#200 + Node-ID ijkef (PDO 1 W8 PDO)
.0Í B ijk 64016#280 + Node-ID ijk&Óge (PDO 6 ÖZ8 PDO)
.0Í C ijk 76816#300 + Node-ID ijk&Óge (PDO 6 ÖZ8 PDO)
.0Í B ijk 140816#580 + Node-ID 1*ijk2Â (rZ SDO)
.0Í C ijk 153616#600 + Node-ID ijk2Âù (W SDO)
.0Í C ijk 179216#700 + Node-ID
¾êlp (NMT, ?Õ , +R )
.0Í B ijk Network management (¾êlp³Rôõ )
2-15
/( PL7 x SyCon Z7ìÈ;
ùLx CANopen úûü_`ù3~ PL7 PRO (ý V4.3 þ× ) & SyCon (ý V2.8 þ× ) ´ Altivar 31 5ý CANopen Ñ PLC wÞG18%4>ä*G /8T´ : PL7 PRO V4.3 & SyCon V2.8>
_`ù3~8 CANopen n9w 1 ð CANopen Ñ (TSX 57353 V5.1 Premium PLC + TSX CPP 100 CANopenÑ PCMCIA / ) & 1 ð?Ñ (Altivar 31) >ä/01ø¹EGøbc8 CANopen n\"#?Ñ2ÂD`G7s&sû8` (%IW& %QW)>
PL7 PRO È;Ç:; PL7 PRO 5·ðØ81/°Pô'·ð678 CANopen n81/°>
9ä1/°8½bc TSX 57353 8 Comm ^8 Channel 1 (: 1) ·ð TSX CPP 100 CANopen PCMCIA />
Õ; hilscher < (\ã8·ðÉÊ= ) >R SyCon bcB¡>
V : Dy ! PC \z SyCon_ä <b67>
2-16
/( PL7 x SyCon Z7ìÈ;
SyCon XR CANopen
± CANopen #$ PLC
Õ; OK?X SyCon (,>GÞß8Ñb·Ïcû¿ :
? File5Þß New@A5·ðØ8bc+Þß CANopen¿Àn¦>
ä@Ab SyCon (,5·ðB8¾á>
Ã/0ÀÁÄbCäbc+@´ ATV 31 - Software Setup Example.co>
? Insert5Þß Master. . .@A (PÕ; < )>
äMbû¿ Insert Master(,>Þß TSX CPP 100 (P TSX CPP 110 ) Ñd¸DÕ; Add >>>
E4_9 Node-ID &É·(,-äÑ8ST>
2-17
/( PL7 x SyCon Z7ìÈ;
SyCon ) CANopen ÈÑ Altivar 31 EDS ~ SyCon `®¯vFH Altivar 31 8 EDS _wxm8d¸EG>ä´ ATV31_Vxy.eds> Vx.y: Altivar 31 8T
- x: ø - y: pø>
ø SyCon `v©1? File5Ñæ Copy EDS@A+Þß\H8 EDS >äMbÐ7Þßìu import thecorresponding bitmap files (v|18Ïã )>Õ; Yesu SyCon 8ÏãEG8 3 ð Altivar 31 ÅÆãÄäb67ßàãÄ>
Dyä@A7a¤7_û¿)3(,H/0I 1 ð EDS & 3 ðÏã>
Eds &ãÄ PowerSuite CD ROM Ð(Pø Altivar 31 ijkb(8 CD ROM Ð(>
? Settings (dB ) 5Þß CANopen Ñ+Ñæ Bus Parameter... (n ...) @A_bc CANopen ¾êJÈ>
Bus Parameter (n ) (,û¿8dBßKåæLM>Dy1ø!n8Nº23 SyCon 8ÓNOP>
V : Dy / Altivar 31 8 PDO 6+É%tEåæbc (IJPrIJ ) _'1 2Â Communication Cycle Period (IJ! ) º:O. 100 msDPQ(,G7>
A31_Vxy_s.dib A31_Vxy_r.dib A31_Vxy_d.dib
2-18
/( PL7 x SyCon Z7ìÈ;
± CANopen l Altivar 31
Õ; OK?X SyCon (,>
GÞß8?Õd¸GÞß8Ïcû¿ :
? Insert5Ñæ Node...@A (PÕ; < )>
²RRļS (äMTÅ´ ) 678 Altivar 31 8ÏcDUÒÕ;>
û¿8 Insert Node (]?Õ ) (,Þß ATV31 d¸D; Add >> <>
E4_9 Node-ID &É·(,-ä?Õ8ST>
2-19
/( PL7 x SyCon Z7ìÈ;
:; Altivar 31¤;-1. Altivar 31 8æ> Node Configuration (?Õbc ) (,bû¿>
`FG78 Node Configuration(,úû´bcW&ÖZ PDO 6 Ýåæ8ùC :
ßàCçèD` :
1 Þ Automatic COB-ID allocation in accordance with Profile 301ß (¹EÈ 301 ¡R COB-ID Ðb ) ÞäC967 / 1 ðPV 2 ð PDO 6 M!/ (Ý,ä`쮯8 ) >DyE¸ / 2 ð PDO 6 8"#·ð1aWÞä=>
2 u4bc PDO 8 PDO: -.¶·ð678 Configured PDOs (4bc PDO) Ð8 PDO1 Predefined Process Data Objects (PDOs) from EDS file (Ü¡ EDS 8BCE- ) ÐÞß© PDOD; Add to configured PDOs (84bc PDO) <Pø¤; PDO >u Configured PDOsÐ8 PDO )» SyCon b®67·ð(,X/05ýbcä PDO 8rstE>-.ïð PDO 1 8"#·ðv5QrstE : asynchronous (~% ) (255)Y-. PDO 64_bc·ð Resulting CANopen specific transmission type (ê7 CANopen ÈBrs¦ ) 0 ( 1Þ ) 1 240 ( 2 Þ ) P 255 ( 4 ¬·ðÞ ) 4 ðÞ|1-1. asyclic synchronous (rIJÉ% ) cyclic synchronous (IJÉ% ) asynchronous (~% ) rstE>D 32 óy SDO |8xøÐ7·31üê PDO 1 & PDO 6 >Dy67߶Z_4»ä3>"#úB8 PDO k58 Configured PDOsзp : ÆÇxY
3 «È;ı) PDO 6 @A) COB-IDª Transmit PDO 68 COB-ID O. 16#280(640) + Node-ID Receive PDO 68 COB-ID O. 16#300(768) + Node-ID>Dyøbc PDO 1 ïð8·ðPïð_ º COB-ID :ìuwÞ,1QY
4 R PDO 6 @A)BÀª; PDO Contents Mapping. . . (PDO zÃ[\ ) <£»GÞbc PDO 8zÃ67·ð$%(,[\8-4_0 +4u84/-¶ð PDO ¬º48 4 ð->äa55/."# PDO 1 ´m8[\ì]Æ8>
1
2
3
4
5
2-20
/( PL7 x SyCon Z7ìÈ;
5 :; Altivar 31 )g [45ª; Configuration Error Control Protocol (bc^'efôõ ) </04_Þß_efôõ/. Altivar 31: Node Guarding Protocol (?Õôõ ) P Heartbeat Protocol (+Rôõ )>
- !¶ 45 : DyÞßäôõ_ /ïð Guard Time (M© ) & Life Time Factor (@! ) Ü7·á@!>ßDF|zà 34 ó?Õôõ·3> : Guade Timebc´ 500 ms Life Time Factorbc 4߶S Life Timebc´ 4 x 500 ms = 2 s>
- "45 : DyÞßäôõ_Ñ Master Guarding Time of Node (16#1016: 16#xx) (Ñ?ÕM© ) ®¯.?Õ Node Heartbeat Producer Time (16#1017: 16#00) (?Õ+RÖkM© )>Dy Master Guarding Time of Node£»bc?Õd´ 0ÑbQä?Õ8¿Àn`RZ>
V : Dy67 CANopen Ñ\ /+Rôõ_1® Bus Parameter (n ) (,>/ Heartbeat Function (» 16 ó SyCon`5·ð CANopen ¾ê·3 ) >£D CANopen Ñ®¯lmäôõßÇ.ä* /8 CANopen Ñ (TSX CPP 100) 8> TSX CPP 100 CANopen Ñ PCMCIA /ìlmäôõ8 CANopen Ñ8Ú>
ä@ Node Heartbeat Consumer List (?Õ+R /øa ) ÐÆÇ/0bc Altivar 31 ÜQn\.@·ðÑ ( Node-ID ) >¶ðÑv!@+,´Db Producer Timer (msec.) (ÖkM© (cd ))> ActiveeWÞëð=4 Altivar 31 -|1 Node-IDåæ !ZQä`|18 Consumer Time (msec.) ( /øM© (cd )) ®¯. Producer Timer (msec.)>
PL7 PRO #x$% CANopen :; CANopen bc+´@ (File 58 SaveP Save As...@A ) >äbc·ð .co >
15 ó PL7 PRO dc½bc·3678 PL7 PRO (,; Select Database (ÞßEG ) <Þß®»8 (D C:\Program Files\Schneider\SyCon\Project\ATV31 - Software Setup Example.co )>ÞºÞß Configuration LoadingMode (bcftE ) ÐNØ>
DDy/0k / PDO 6 8 2 ð PDO_1øåæD\C´ä®¯h PDO 1 8 2 ð PDO>u : `F8 PL7 ¶bhÏ.¹ 4 8 Altivar 31 8W PDO 1>
SyCon V2.8 b¡Rh PDO1ß®¯!1/° PL7 ¤7>
Dy67h PDO 1 8rs PDO & /PW PDO®¯ PL7 1/°åæ / SDO dc|1 Receive/Transmit PDO1 parameter-8 COB-ID used by PDO8 31 Ï (»` ) >ßbg PDO Ä´ not valid (Wµ )>DÝV5Q COB-ID )@8 31 ðÏY
&' 3&' Ö() PDO ) PDO 16#1400 16#01 W8 PDO 1 8 COB-ID 16#00000200 + Node-ID 16#80000200 + Node-ID
16#1800 16#01 rZ8 PDO 1 8 COB-ID 16#00000180 + Node-ID 16#80000180 + Node-ID
%MD1000:=16#80000184;(* = PDO *)%MW500:=16#1400;(* - %MD500 LSB *)%MW501:=16#0001;(* - %MD500 LSB *)%MW22:=50;(* = 50 x 10 ms = 500 ms *)%MW23:=4;(* = 4 *)(* ÖZ SDO WRITE @A *)WRITE_VAR(ADR#0.1.SYS,’SDO’,%MD500,4,%MW1000:2,%MW20:4);
2-21
/( PL7 x SyCon Z7ìÈ;
/0U4_bc CANopen Ñ\4/8Þ>
± HID BCD (ó ) MAST MAST ¤ FAST/.Þßh CANopen ¾ê8ij"¦>V : PL7 PRO T1/°'д Mast Task (Ñ" ) & Fast Task (kd" )>
Ö ( ()(¤*+ [
£ CANopen ѳRM8¿Ànæ´>
S, %MW0 %MW31 (%MW A ) + (-R %MW)
PLC 8 %MW >&ð %MW >8l1Ü¡ TSX CPP 100 CANopen Ñ PCMCIA /8sEb[\\>EG /8 CANopen Ñ_ PLC 8_ÞB4us>Ðb8>¬:>Ðbº1ø8>ì !C/8>.·DFõUøÐb´¬:´LmÜ1/1ù8Ön¿Ànbc45b!GQi> Altivar 31 1ø8sE45· 10 ð>? (5 ð> ) ßsk5#êïð PDO 8 Transmit PDOÜ· : PDO 1´ 2 >? PDO 6 º´ 8 >? ( º 4 >? )> : %MW s>o 2´9! Transmit PDO 68 º[\´ CANopen s (4 IB 8 I LenD SyCon `úû ) >·ðs>m´ %MW0>߶ CANopen s>´ %MW0 & %MW1>
ST %MW32 %MW63 (%MW A ) + (-R %MW)
». Inputs (s ) 8STä*pD!µmy PLC 8sû>& TSX CPP 100 CANopen Ñ PCMCIA /|> Altivar 31 1ø8sûE45· 10 ð>? (5 ð> ) ßsûk5#êïð PDO 8 Receive PDOÜ· : PDO 1 ´ 2 >? PDO 6 º´ 8 >? ( º 4 >? )> : %MW sû>o 2´9! Receive PDO 68 º[\ CANopen sû (4 QB 8 O LenD SyCon `úû )>ä@Ðbßàsûef>'ø qs>) : ·ðsû>´ %MW2>߶ CANopen sû> %MW2 & %MW3>
ST ./ ÷¤./
VB|" (»\ ) ghM CANopen sû>ìm'ìÏ´r´ß¶8sgbv TSX CPP 100 /ghBC>
012 Ö( Ö(¤
DyäÞ>/_£©/5wÞlp CANopen nM TSX CPP 100 CANopen Ñ PCMCIA /8 CANopen ge°bCtÖ>yäÉMG! CANopen sû>bÏ´ 0>
:;3,<= PL7 PL7 ¤ SyCon PL7:
CANopen n8bcC´ PL7 1/T8·Ð`fÄÑ PLC>DyE81/° !÷ý8uB©/.äb
c_ PL7 bhätEY SyCon
: CANopen n8bcº´f PCMCIA /߶USº´ / SyCon `f> PL7 PRO 9QÞº/bcy
/0GÞ8 .coìu|Évwbc@'(>ì-n8"#Qv®¯ SyCon `åæ>
2-22
/( PL7 x SyCon Z7ìÈ;
CANopen #$)S,xST
PL7 PRO /GÞ .co823¶ð CANopen ?ÕE&y|£8 %MW s&sû>)©C-1i>
V : ßàÐb9 Altivar 31 CANopen n\x·8?Ñ,/0Þ_ º[\ / PDO 6 8ïð PDO M!µ>DyÉ·¿Àn\bc!?ÑPøQ Altivar 31 8 PDO bc_\Hs&sû>Ðb!GÉ>Dyì߶8Y_4 / SyCon Ð(8·ð@Ays&sû8G!#ê§æ View58 Address Table... (¹` ...) @A>
Altivar 31 8bc PDO y PLC s&sû)©8-1iD`úû :
øQ Altivar 31 I/O4; Bus Configuration (nbc ) <>߶û¿ CANopen bus configuration (CANopen nbc ) (,Dä*67>
Þß ATV31 CANopen ?Ñ (¹` 0002) b67bc/.äð?Õ8s&sû>>
ã8±QЮ %MW0 %MW3>Ðb6Ei߶/0S4_H:ßà>ìD#y SyCon `[\8 PDO Ci8>
SyCon b67>?¹`&>? ( IBs& QBsû ) >1´´_>¹`MÅ>ä 1 >?-[\ 1 ðbc PDO z/ 1 ð¤Â8> : 1 >?-bÐb©>8 MSB >? LSB >?b´B>?>
PDO % SyCon I/O PL7 PRO I/O wô
rs PDO 6 s IB0 - IB1 %MW0 ÅÆ> ETA IB2 - IB3 %MW1 dÓ: RFRD
W PDO 6 sû QB0 - QB1 %MW2 ef> CMD QB2 - QB3 %MW3 dÓdBÕ LFRD
2-23
/( PL7 x SyCon Z7ìÈ;
Ëu
`F·á8 PL7 PRO °Úúû 15 ó / PL7 & SyCon åæTdc·3G~8bc :
8ø8ì :• |ijkÅƳR Altivar 31• UMk TM0 M©áz 1500 rpm `°OdÓwDu
m /_`u- :
(* Masks the DRIVECOM Status Word *)%MW5:=%MW0 AND 16#00FF;
(* Status word "ETAD" = 16#xx40 = Switch on disabled *)IF(%MW5=16#0040)THEN
%MW2:=16#0006;(* Control word "CMDD" = 16#0006 = Shutdown *)END_IF;
(* Status word "ETAD" = 16#xx21/23 = Ready to switch on/Switched on *)IF(%MW5=16#0021)OR(%MW5=16#0023)THEN
%MW2:=16#000F;(* Control word "CMDD" = 16#000F = Enable operation *)%MW3:=1500;(* Velocity reference "LFRD" = 1,500 rotations per minute *)START %TM0;(* Starts the forward/reverse timer *)
END_IF;
(* Status word "ETAD" = 16#xx27 = Operation enabled *)IF(%MW5=16#0027)THEN
(* Forward/reverse timer elapsed *)IF %TM0.Q THEN
(* Control word "CMDD": Forward <--> Reverse *)IF %MW2:X11 THEN RESET %MW2:X11;ELSE SET %MW2:X11;END_IF;(* Makes sure the DRIVECOM status does not change *)%MW2:=%MW2 OR 16#000F;(* Maintains Velocity reference "LFRD" at 1,500 rpm *)%MW3:=1500;(* Re-starts the forward/reverse timer *)DOWN %TM0;START %TM0;
END_IF;END_IF;
2-24
òó
3~ijk8 CANopen COB-ID ~8¯°aû>
"#ÒÓ 1 ð>?8E CANopen ;vì LSB » MSB >
NMT
ÜÝ4 [ (COB-ID = 16#000)5
6,2 C ÁÌ"
(1)Dy Node-ID = 0_ Command Specifier (@ASTé ) ñ^G! CANopen?Ñ (w Altivar 31 z ) ¶·?Ñ®¯§æä NMT @A߶b|180O (»` )>
u : Ï. CANopen ¹` 4 (16#04) \8 Altivar 31 0O Pre-Operational (Ñæ ) ÅÆ (Enter_Pre-Operational_State = 16#80)>
COB-ID 0 U! 1 U! 0
(16#000)@ASTé
(CS)?Õ ID
(1)
78ø (CS) 9 001 (16#01) '¦ _é _?Õ 002 (16#02) gh _é _?Õ 128 (16#80) Þº _Ñæ _ÅÆ 129 (16#81) Ï _?Õ 130 (16#82) Ï _
16#000 16#80 16#04
2-25
òó
ÜÝ: (NMT State Machine, NMT ÜÝ4 )P½Ï
¹EijkÅÆ4Ð(_` :
;¿ (1) M¡s¬¦ËÅÆ (2) ·¤7¬¦Ë_¡Rs Pre-Operational (Ñæ ) ÅÆ (3), (6) '¦ _é _?Õ (4), (7) Þº _Ñæ _ÅÆ (5), (8) gh _é _?Õ (9), (10), (11) Ï _?Õ (12), (13), (14) Ï _
<=å >à7 à7 ?4 PDO X
SDO X XÉ% (SYNC) X X
, X X³R1v X X
¾êlp X X X
¤Ç./
>à7
à7
<=å
?
(1)
(2)
(3)
(4)(5)
(7)
(6)
(8)
(14)
(13)
(12)
(11)
(10)
(9)
2-26
òó
Ã@wô - SYNC (COD-ID = 16#080)6,2 C ÁÌ"
SYNC - CANopen ÑIJÖû>mw"#Eä;9.8 COB-ID>
ä-8ø/ìÆÇ / CANopen ?Ñ8É%tE>߶ Altivar 31, PDO 6 (Dy / ) 8`4·458É%PrÉ%tE\åædc>
ABwô - EMCY (COB-ID = 16#080 + Node-ID)6,2 B ÁÌ"
WM#MkøzÔÕû¿ (>? 2 = 1) P): (>? 2 = 0) Altivar 31 _®u CANopen d¸ÖZ·ð EMCY ->
Emergency Error Code (,'(GH ) yi Fault Code (603F) (ÔÕGH ) |É»/0ÀÁÃiÄ>
COB-ID
128(16#080)
COB-ID 0 U! 1 U! 2 U! 3 U! 4 U! 5 U! 6U! 7 U!
128(16#080)+Node-ID
,^'GH '(k 0 0 0 0 0
LSB MSB =0 (WÔÕ )=1 (ÔÕ )
2-27
òó
PDO 1 C (COB-ID = 16#180 + Node-ID / 16#200 + Node-ID)ä# PDO éê DSP-402 ÙÚ8 drive and motion profile (ijk&ÑRÈ )>ä1/´ PDO 1>
PDO 1 tE8 ºdBV5Qi: (255) -1.ijkÈ8 ºtE : ~%,"#MjkøE:iËijkÖZQh PDO>
ä@;8-[\5QiUSìk!ef> CMDD&ÅÆ> ETAD4_ Altivar 31 &ëð.0Í)©åæ°O> 1 ðQh PDO & 1 ðef PDO vkw 2 ð>?8E>
¬ PDO 1 & PDO 6 ïð#4_ÉM /9.·BÓ&ÈBJ` (»~ßà 2 PDO 83? )>
D PDO 1 (COB-ID = 16#180 + Node-ID)6,2 B ÁÌ"
u : Ï. CANopen ¹` 4 (COB-ID = 16#180 + 4) \8 Altivar 31 *. Operation Enabled (Ñæ>/ ) ÅÆ, !ÔÕ (ÅÆ> ETAD = 16#xxx7) >ÅÆ> ETADO. 16#0607>
[ PDO 1 (COB-ID = 16#200 + Node-ID)6,2 C ÁÌ"
u : Ï. CANopen ¹` 4 (COB-ID = 16#200 + 4) \8 Altivar 31 W´ Enable operation (>/Ñæ ) 8@A (ef> CMDD =16#xxxF) >ef> CMDDO. 16#000F>
COB-ID 0 U! 1 U! 384
(16#180)+Node-ID
ÅÆ> ETAD
LSB MSB
16#184 16#07 16#06
COB-ID 0 U! 1 U! 512
16#200+Node-ID
ef> CMDD
LSB MSB
16#204 16#0F 16#00
2-28
òó
PDO 6 C (COB-ID = 16#280 + Node-ID / 16#300 + Node-ID)ä# PDO éê DSP-402 ÙÚ8 drive and motion profile (ijk&ÑRÈ )>ä1/´ PDO 6>
PDO 6 tE8dB4_Q :• º: (255) -1.ijkÈ8 ºtE : ~% • É%IJ (1-240): ijk¶W 1 240 ð SYNC -ÖZ PDO ·p • É%rIJ (0) : ijkL SYNC -É%ÖZ PDOäÖZ9E:8QitÖ>
ä@ PDO 6 #8;8-[\4_Q> º[\wef> CMDDdÓúB: LFRDÅÆ> ETAD&dÓ: RFRD,ßàzîúû>Dúû PDO 6 -[\8"_úûä PDO [\845Z>
¬ PDO1 #& PDO6 #4_ÉM /ß3FÐLM>
D PDO 6 (COB-ID = 16#280 + Node-ID) - HI6,2 B ÁÌ"
u : Ï. CANopen ¹` 4 (COB-ID = 16#280 + 4) \8 Altivar 31 *. Operation Enabled (Ñæ>/ ) ÅÆ, !ÔÕ (ÅÆ> ETAD = 16#xxx7) >ÅÆ> ETADO. 16#0607>ä@ÓdÓO. 1500 rpm (16#05DC)>
[ PDO 6 (COB-ID = 16#200 + Node-ID) - HI6,2 C ÁÌ"
u : Ï. CANopen ¹` 4 (COB-ID = 16#300 + 4) \8 Altivar 31 W´ Enable operation (>/Ñæ ) 8@A (ef> CMDD =16#xxxF)>ef> CMDDO. 16#000F>ä@ÓdÓd´ 1200 rpm (16#04B0)>
Dy SyCon ø- Configured PDOs (bc PDO) / PDO 6 8ÖZ& /PW8-_®¯® Automatic COB-IDs allocation in accordance with Profile 301 ( |ãn 301 ¡RÐb COB-ID) Þ=8Þß>Dyaä=Þßßà-8 COB-ID b'(äM®¯-åæÀRQ>
COB-ID 0 U! 1 U! 2 U! 3 U! 640
(16#280)+Node-ID
ÅÆ> ETAD dÓ: RFRD
LSB MSB LSB MSB
16#284 16#07 16#06 16#DC 16#05
COB-ID 0 v 1 U! 2 U! 3 U! 768
16#300+Node-ID
ef> EMDD dÓúB: LFRD
LSB MSB LSB MSB
16#304 16#0F 16#00 16#B0 16#04
2-29
òó
D PDO 6 (COB-ID = 16#280 + Node-ID) - (,E96,2 B ÁÌ"
SyCon `´Q 2 ðQh PDO 8[\8 Configured PDOsÐ)®¯¤; Transmit PDO 6 parameter>ßô' PDO Contents Mapping Object Index 1A05 (PDO zÃ[\-l1 1A05) (,>
äM®¯?\D Mapable Objects from EDS file (Ü¡ EDS 84[\- ) Ð8 /² `D8 Mapable Object dictionary (4[\->¾ ) Ð>ßìïð Append Object (8- ) & Delete mapped Object (0 [\- ) <¤78>
¤7- Transmit PDO 6 parameter[\8Q / OKP Cancel <-QåæÞºP)>
V : ä PDO ABc8"#>?Kb Altivar 31 n\ÖZUSìSDy !¼B>? 6 & 7 PDO 8EÒÓbì 6 >?Ýì 8 >?>
u : ïð º-a (6041:0 & 6044:0) >? 4 & 5 [\´ Motor current: LCR (ÓÌ LCR) - (2002:4) >? 6 & 7[\ Motor torque: OTR- (2002:9) ߶I_`8[\ :
¿ÜÏ. CANopen ¹` 4 (COB-ID = 16#280 + 4) \8 Altivar 31 8`aÅÆ :• £»ÅÆO. Operation Enabled, !"#ÔÕ (ÅÆ> ETAD = 16#xxx7)>ÅÆ> ETADO. 16#0607 • dÓ: RFRDO. 1500 rpm (16#05DC) • ÓÌ LCRO. 4.0 A (16#0028) • Ó¨ú OCRO. 83 % (16#0053)>
äQh PDO 8|1ÖZ;1D`G7 (8 ðE>? ):
COB-ID 0U! 1U! 2U! 3U! 4U! 5U! 6U! 7 U!
640(16#280)+Node-ID
Altivar i
( º : ÅÆ> ETAD )Altivar i
( º : dÓ: RFRD )Altivar i
( º : W- )Altivar i
( º : W- ) LSB MSB LSB MSB LSB MSB LSB MSB
COB-ID 0U! 1U! 2U! 3U! 4U! 5U! 6U! 7U! 640
(16#280)+Node-ID
ÅÆ> ETAD dÓ: RFRD ÓÌ LCR Ó0ú OT
LSB MSB LSB MSB LSB MSB LSB MSB
16#284 16#07 16#06 16#DC 16#05 16#28 16#00 16#53 16#00
2-30
òó
[ PDO 6 (COB-ID = 16#280 + Node-ID) - (,E96,2 C ÁÌ"
SyCon `´Q 2 ðef PDO 8[\8 Configured PDOsÐ)®¯¤; Receive PDO 6 parameter>ßô' PDO Contents Mapping Object Index 1605 (PDO zÃ[\-l1 1605) (,>
äM®¯?\D Mapable Objects from EDS file (Ü¡ EDS 84[\- ) Ð8 /² `D8 Mapable Object dictionary (4[\->¾ ) Ð>ßìïð Append Object (8- ) & Delete mapped Object (0 [\- ) <¤78>
¤7- Receive PDO 6 parameter[\8Q / OKP Cancel <-QåæÞºP)>
V : ä PDO ABc8"#>?Kb.0Ín\ÖZUSìSDy !¼B>? 6 & 7 PDO 8EÒÓbì 6 >?Ýì 8 >?>
u : 1 ð º-a (6040:0) 2 ð º- (6044:0) dM© ACC (203C:2) G>? 4 & 5 [\dM© DEC (203C:3) \߶I_`8[\ :
¿ÜÏ. CANopen ¹` 4 (COB-ID = 16#300 + 4) \+cD`ef8 Altivar 31: • Enable operation@A (ef> CMDD = 16#xxxF) >ef> CMDDO. 16#000F • dM© ACC´ 1s (10 = 16#000A)• dM© DEC´ 2s (20 = 16#0014)
äef PDO 8|1W;1D`G7 (6 E>? ):
COB-ID 0 U! 1 U! 2 U! 3 U! 4 U! 5 U! 6 U! 7 >?
76816#300
+Node-ID
Altivar i
( º : ef> CMDD )Altivar i
( º : dÓúB: LFRD )Altivar i
( º : W- )Altivar i
( º : W- ) LSB MSB LSB MSB LSB MSB LSB MSB
COB-ID 0 U! 1 U! 2 U! 3 U! 4 U! 5 U! 768
(16#300)+Node-ID
ef> CMDD dM© ACC dM© DEC
LSB MSB LSB MSB LSB MSB
16#304 16#0F 16#00 16#0A 16#00 16#14 16#00
2-31
òó
SDO
òó (COB-ID = 16#580 + Node-ID / 16#600 + Node-ID)KL : 6,2 C ÁÌ"
ef : 6,2 B ÁÌ"
¹EùH&\1H8ÉùE&\1E45b!iË>`Fï-äåæçè :
(1)Dy / SDO Ü·ðº>?ED manufacturer device name (f6d¸ ) ( 16#1008: 16#00) .0Íyijk©Ö³·pÐárs> 16#80ùHdU/_ghärs>
(2)\1E (>? 4 7) -1.·ð 32 Ï abort code (8hH ) `¤ÂST Altivar 31 lm8G!8hH>
V : Ðárs9*/.ÒÓ 4 >?823>m9/. Manufacturer device name (- 16#1008) ·*>
COB-ID 0 U! 1 U! 2 U! 3 U! 4 U! 5 U! 6 U! 7 U! 1536
(16#600)+Node-ID
ùH-l1
-"l1ùE
LSB MSB ¥È 7-0 ¥È 15-8 ¥È 23-16 ¥È 31-24
COB-ID 0 U! 1 U! 2 U! 3U! 4U! 5 U! 6 U! 7 U! 1408
(16#580)+Node-ID
\1H-l1
-"l1\1E
LSB MSB ¥È 7-0 ¥È 15-8 ¥È 23-16 ¥È 31-24
KLN 78 4 U! 5 U! 6 U! 7 U! 16#23 ·ð 4 >?E ¥È 7-0 ¥È 15-8 ¥È 23-16 ¥È 31-24
16#2B ·ð 2>?E ¥È 7-0 ¥È 15-8 16#00 16#00
16#2F ·ð 1>?E ¥È 7-0 16#00 16#00 16#00
16#40 E 16#00 16#00 16#00 16#00
16#80 8h£» SDO@A (1) 16#00 16#00 16#00 16#00
efN 78 4 U! 5 U! 6 U! 7 U! 16#43 E : 4 >?E (1) ¥È 7-0 ¥È 15-8 ¥È 23-16 ¥È 31-24
16#4B E : 2 >?E (1) ¥È 7-0 ¥È 15-8 16#00 16#00
16#4F E : 1 >?E (1) ¥È 7-0 16#00 16#00 16#00
16#60 ·ð 1/2/4 >?E : \1 16#00 16#00 16#00 16#00
16#80 '(\1 : ?X8GH (2) ¥È 7-0 ¥È 15-8 ¥È 23-16 ¥È 31-24
2-32
òó
(1)äaû8 Abort codesì_Ù·DEúû8߶->? 4 7 8·S®¯åæ>?0O (D 16#0609 0030 i´>? 4 = 16#30>? 5 = 16#00>? 6 = 16#09>? 7 = 16#06)>
F SDO òó)GùðG
EN (1) 16# 0503 0000 Ðárs : toggle bit (¤Æ¥È ) NO 16# 0504 0000
SDO ôõM
16# 0504 0001 request codeWµPH 16# 0601 0000 û¿·ðÔÕ (D-·ð read only (k ) Öûù ) 16# 0601 0001 ãã-9! write only (k ) n8§æù 16# 0601 0002 ãã-9! read only (k ) n8§æù 16# 0602 0000 ùrZ8 index (l1 ) 1/->¾8- 16# 0604 0041
PDO -[\ : 5[\ PDO£u 16#1600, 16#1A00, 16#1605 & 16#1A05 åæCMbû¿ä'( (PDO [\ )
16# 0604 0042
PDO -[\ : ø[\8& /PÒÓ¬8 PDO ÒÓ>
16# 0609 0011 ùrZ8 sub-index ("l1 ) 16# 0609 0030 û:Ú (9-.n ) 16# 0609 0031 G: 16# 0609 0032 G: 16# 0609 0036 ¬:.¬: 16# 0800 0000 û¿·Z'(
ùHw SyCon :;)Þ Transmit PDOsßl)@A/( SDO WKLª-. Transmit PDO 1äYR*/.ef> CMDD>-. Transmit PDO 6ef> CMDD&dÓúB: LFRDK´ ºbc>DyQ 1ðP 2ð ºPøuä PDO8 1ðP 2ðm_äYR /.ßàbc8>
y*._\YR)`8ë·µ|8"#vV5 SDOù8DEåæQ>
2-33
òó
Q SDO òóËuúûD#Ï. CANopen ¹` 4 (COB-ID = 16#580 + Node-ID P 16#600 + Node-ID) \8 Altivar 31 8 Acceleration time(ACC) (dM© )>ä8 index:sub-index (l1 : "l1 ) O. 16#203C/02>
V : Altivar 31 G!i8l1&"l1K Altivar 31 8/0ÀÁÃiÄaû>
QKL : 6,2 C ÁÌ"ù8 request code (ùH ) ´ 16#40>
Qef : 6,2 B ÁÌ"\18 response code (\1H ) ´ 16#4B´C·ð 2 >?E\7a¤7>
_\úû8\1;¼78:O. 1000 (16#03E8) 100 s8 Acceleration time (ACC) ä8Ï´ 0.1s>
W SDO òóËuúûD#: 100s Ï. CANopen ¹` 4 (COB-ID = 16#580 + Node-IDP 16#600 + Node-ID) \8 Altivar 31 8 Accelerationtime (ACC) (dM© )>ä8 index:sub-index (l1 : "l1 ) O. 16#203C/02>
V : Altivar 31 G!i8l1&"l1K Altivar 31 8/0ÀÁÃiÄaû>
WKL : 6,2 C ÁÌ"äù8 request code´ 16#2B´wããQ·ð 2 >?E8:>
_\úû8ù;8 2 >?E>á¼7Gããç8 Acceleration8:O. 1000 (16#03E8) ´ 100 s 8 Accelerationtime (ACC) ä8Ï´ 0.1s>
Wef : 6,2 B ÁÌ"\18 response code´ 16#60´C7a¤7>
16#604 16#40 16#3C 16#20 16#02 16#00 16#00 16#00 16#00
16#584 16#4B 16#3C 16#20 16#02 16#E8 16#03 16#00 16#00
16#604 16#2B 16#3C 16#20 16#02 16#E8 16#03 16#00 16#00
16#584 16#60 16#3C 16#20 16#02 16#00 16#00 16#00 16#00
2-34
òó
g [45 (COB-ID = 16#700 + Node-ID)
I'|45
6,2 B ÁÌ"
!¶ 45
-.0Í (NMT Ñ ) &ijk©8Qh4_ä*~8 Node Guarding Protocol (?Õôõ ) ¿Pø4_ /L~8 Heartbeat Protocol (+Rôõ ) ¿>"#ÞB8Mjßïôõk5!·ð*.!µÅÆY
6,2 C ÁÌ".0Íb / remote transmit requestBM©©¹-ijk&G! NMT ?Ñåæq>q¶ð NMT ?ÑvÐb·áÈB8M©7´ life time (@! ) >:4ïð guard time (16#100C: 16#00) (M© ) & life time factor (16#100D:16#00) (@! ) åæQ>@!M©_@!t>
º`?Õôõ Altivar 31 \ìh8 (M©&@!ïðKd´ 0)>
6,2 B ÁÌ"
ijk8\1 NMT information (NMT >á ) wx NMT ÅÆSTD : Jí 7 = oKÝJí : ©¥È8:|ïpÜ¡ijk8\1)©®¯iO>?Õôõ)³µ)p\18¤Æ¥È8:´ 0>m9 Reset_Communication (Ï ) @ArijkÏ´ 0 (» 25 ó¾êlpÅÆ (NMTÅÆÓ ) ·3 ) >DyWëp\18¤Æ¥Èy»p|É_Ø8\1 Wåæ*p> Jí 6-0 = NMT ÜÝ : Altivar 31 £»8 NMT ÅÆ : Stopped (gÓ 16#04) Operational (Ñæ 16#05) PÑæ (16#7F)>
DyijkÖZ\1PÖZ·ðwÞ8ÅÆ.0ÍbtÖ·ð Node Guarding (?Õ ) >
Dy life time@RijkW"#q_ :• mtÖ·ð Life Guarding • 0´ ÔÕ (CANopen ÔÕ )• +ÖZ·ð,< (EMCY)>
COB-ID 0 U! äôõ/.ÖûijkÅƬ¦Ëå Pre-Operational (Ñæ ) ?ÕÅÆ82§>
³R1vôõ;ÖZ8x·E>?O. 16#00> 1792
(16#700)+Node-ID
16#00
COB-ID 0 U! 1792
(16#700)+Node-ID
NMT23
2-35
òó
!¶ 45È;Ëu
D»GH Altivar 318 life time4_ / SDO åæQ_´ guard time& life time factorØ:>
bc 2 d8@!M©´ 500 ms@!O. 4 (500 ms 4 = 2 s)>
1) M©d 500 ms• COB-ID: -.ù´ 16#600 + Node-ID-.\1´ 16#580 + Node-ID• ùH (>? 0): ·ð 2>?E 16#2B• \1H (>? 0): DyC7a¤7_´ 16#60• -l1 (>? 1 2): 16#100C• -"l1 (>? 3): 16#00• ùE (>? 4 5): 16#01F4 (500)
KL : 6,2 C ÁÌ"
ef : 6,2 B ÁÌ"
2) @!d´ 4• COB-ID: -.ù´ 16#600 + Node-ID-.\1´ 16#580 + Node-ID• ùH (>? 0): ·ð 1 >?E´ 16#2F• \1H (>? 0): DyC7a¤7_´ 16#60• -l1 (>? 1 2): 16#100D• -"l1 (>? 3): 16#00• ùE (>? 4): 16#04 (4)
KL : 6,2 C ÁÌ"
ef : 6,2 B ÁÌ"
|18 PL7 ¼A (_ ST ¼úû ):
l1 "l1 eE Ï
M© 16# 100C 16# 00 16 ÏWé§Â¦ 1 ms@! 16# 100D 16# 00 Wé§>?¦ __
16#604 16#2B 16#0C 16#10 16#00 16#F4 16#01 16#00 16#00
16#584 16#60 16#0C 16#10 16#00 16#00 16#00 16#00 16#00
16#604 16#2F 16#0D 16#10 16#00 16#04 16#00 16#00 16#00
16#584 16#60 16#0D 16#10 16#00 16#00 16#00 16#00 16#00
%MW1000:=16#01F4;(* Data to Send = Guard Time = 500 *)%MW1001:=16#04;(* Data to Send = Life Time Factor = 4 *)%MW22:=50;(* Timeout = 50 x 10 ms = 500 ms *)%MW23:=4;(* Data length = 4 bytes *)(* SENDS the SDO WRITE commands *)WRITE_VAR(ADR#0.1.SYS,’SDO’,16#0000100C,4,%MW1000:1,%MW20:4);WRITE_VAR(ADR#0.1.SYS,’SDO’,16#0000100D,4,%MW1001:1,%MW20:4)
2-36
òó
"45
C´»·3GH?Õôõ8&Oôõ+Rôõ (heartbeat protocol) 4/.Qh.0Íyijk)©8ì.0ÍlmäôõQÞº consumer heartbeat time ( /ø+RM© ) # (l1 16#1016) ìuS-E8.0Íúû>D TSXCPP 100 CANopen Ñ PCMCIA /lmäôõÝ TSX CPP 110 _lm>
"#ÞB8Mjßïôõk5!·ð*.!µÅÆY
y?Õôõ|-8ì+Rôõ1ø.0Íu"#d¸ÖZ;1øÖZ remote frames (é; )
6,2 B ÁÌ"
¶ð+RÖk b !Z¹ÖZ+R< (»\ ) "# (+R /ø ) Wä<+Qìu¬úBM©z·>äi8bc/ïð : /ø+RM© (16#1016: 16#01) &Ök+RM© (16#1017: 16#00)>
º`+Rôõ Altivar 31 \ìh8 ( /ø+RM©&Ök+RM©ïðKd´ 0)>
Ü¡ijk8+R<wx·ð+RÖk>áSTD :Jí 7 = L : ©¥Èdc´ 0>Jí 6-0 = "·M"ÜÝ : Altivar 31 8£»ÅÆ : ³R1v (16#00)gÓ (16#04)Ñæ (16#05) PÑæ (16#7F)>
+R /ø /ø+RM©z !ZQìuW+R<>߶+RÖk8Ök+RM©®¯.ä /ø+RM©>
Dy /ø+RM©zW+R<_ /øÍbtÖ·ð+R >
/ø+RM©&Ök+RM©ì SyCon v2.8 (Ü ) lm8+Rôõkìº4/ SDO 8·ä/0ÀÁ-åæÛH>
COB-ID Byte 0
1792(16#700)+Node-ID
+RÖkÅÆ
6,2 C ÁÌ"
2-37
wôUN
wôUN)XOPQ
Altivar 31 ->¾8·ÜÐyG! CANopen d¸K|É :
ïíîR)wô
äèwx CANopen ¾ê$/.8>ä*úû8G!-.G! CANopen d¸v|É>
&' wô 16#0000 / 16#0001 - 16#001F ]ÆE¦ 16#0020 - 16#003F E¦ 16#0040 - 16#005F / (f6ÈB8E¦ ) 16#0060 - 16#007F S-ÈBd¸È8]ÆE¦ 16#0080 - 16#009F S-ÈBd¸È8E¦ 16#00A0 - 16#0FFF a/.Ü / 16#1000 - 16#1FFF Èè 16#2000 - 16#5FFF
Altivar 31 ÈBÈè
16#6000 - 16#9FFF ÄÅËd¸Èè 16#A000 - 16#FFFF a/.Ü /
&' 3&' STUV % HID
16#1000 16#00 RO Wé§ 32 Ï 16#00010192ÈÑ% : ¥È 16-23: d¸¦t¦ (1)¥È 0-15: d¸È§ (402)
16#1001 16#00 RO Wé§ 8 Ï 16#00 ghW#" : '( (1) PW'( (0)
16#1003
16#00 RW Wé§ 8 Ï 16#00 ghA : - 16#1003 W'( (0) P 1 ðPºð (>0) '(9! 0 :4_
16#01 RO Wé§ 32 Ï 16#00000000gUX :¥È 16-31: 23 (V´ 0) ¥È 0-15 = '(H
16#1005 16#00 RW Wé§ 32 Ï 16#00000080 COB-ID SYNC â~ : E5Qä-:Y
16#1008 16#00 RO 4»>é ATV31 [¢YÈÑ\] 16#100A 16#00 RO 4»>é 0301 [¢Yìý : ä*úû8:9´ (V3.1) 16#100B 16#00 RO Wé§ 32 Ï ?Õ ID !¶ ID: ä-Wbc/. Altivar 31 8 Node-ID :
16#100C 16#00 RW Wé§ 16 Ï 16#0000 ¼Z : º`?Õôõhä-8Ï´ 1 ms>
16#100D 16#00 RW Wé§ 8 Ï 16#00 M7[\A : /.M©8_t·ð@!
16#100E 16#00 RW Wé§ 32 Ï 16#00000700+ Node-ID !¶ bø : /.?Õôõ8 COB-ID
16#100F 16#00 RO Wé§ 32 Ï 16#00000001 Äö÷) SDO A
16#1014 16#00 RO Wé§ 32 Ï 16#00000080+ Node-ID
COB-ID AB]^â~ : /. EMCY 8<
16#1016
16#00 RO Wé§ 8 Ï 16#01 /(_"¼Z - A
16#01 RW Wé§ 32 Ï 16#00000000
/(_"¼Z :¥È 16-23: Ök8?Õ ID¥È 0-15: +RM© (Ï 1 ms)V : `aC:;XR"·M"bHI]^w·M"Z7Dª
16#1017 16#00 RW Wé§ 16 Ï 16#0000 ·M""¼Z : ä-8Ï 1 ms> º` Altivar 31 ÖZ+R<>
16#101816#00 RO Wé§ 8 Ï 16#01 bwô - A 16#01 RO Wé§ 32 Ï 16#0000005F bwô - cdY ID: ä:-¶ðf6ìx·8>
2-38
wôUN
&' 3&' STUV % HID
16#1200
16#00 RO Wé§ 8 Ï 16#02 òó" SDO - A
16#01 RO Wé§ 32 Ï 16#00000600+ Node-ID
òó" SDO - COB-ID 6,2 ÁÌ" (e )
16#02 RO Wé§ 32 Ï 16#00000580+ Node-ID
òó" SDO - COB-ID 6,2 ÁÌ" (·f )
16#1400
16#00 RO Wé§ 8 Ï 16#02 e PDO1 - A
16#01 RW Wé§ 32 Ï 16#00000200+ Node-ID e PDO1 - COB-ID
16#02 RO Wé§ 8 Ï 16#FF e PDO1 - gS% : PDO hXB()<=ÔÞc@ß (i`AODÁå¼·f PDO)
16#1405
16#00 RO Wé§ 8 Ï 16#02 e PDO6 - A
16#01 RW Wé§ 32 Ï 16#00000300+ Node-ID
e PDO6 - COB-ID
16#02 RW Wé§ 8 Ï 16#FFe PDO6 - gS% : ä PDO 4_ /tE : ~% (255)É%IJ (1-240) &É%rIJ (0)
16#160016#00 RO Wé§ 8 Ï 16#01 e PDO1 - wôA
16#01 RO Wé§ 32 Ï 16#60400010 e PDO1 - z 1 wô : ef> CMDD (16#6040)
16#1605
16#00 RW Wé§ 8 Ï 16#02 e PDO6 - wôA : -ä PDO 4_[\ 0 4 ð-
16#01 RW Wé§ 32 Ï 16#60400010 e PDO6 - z 1 wô : ef> CMDD (16#6040)
16#02 RW Wé§ 32 Ï 16#60420010 e PDO6 - z 2 wô : j!kEDÞ LFRDß (16#6042)
16#03 RW Wé§ 32 Ï 16#00000000 e PDO6 : ! 3 [\- 16#04 RW Wé§ 32 Ï 16#00000000 e PDO6 : ! 4 [\-
16#1800
16#00 RO Wé§ 8 Ï 16#05 gS PDO1 - A
16#01 RW Wé§ 32 Ï 16#00000180+ Node-ID gS PDO1 - COB-ID
16#02 RO Wé§ 8 Ï 16#FF gS PDO1 - gS% : ` PDO hXB()<=ÔÞc@ß (i`AODÁå¼·f PDO)
16#03 RW Wé§ 16 Ï 30 gS PDO1 - ¼Z : lmgSZ)`n¼Zoè/Ô 1 ms
16#04 RW Wé§ 8 Ï __ rs PDO1 - a
16#05 RW Wé§ 16 Ï 100 gS PDO1 - ¼Zi¼" : Þc@ß<=l`wôÚÔ` PDO È;`pgSjqoè/Ô 1 ms
16#1805
16#00 RO Wé§ 8 Ï 16#05 gS PDO6 - A
16#01 RW Wé§ 32 Ï 16#00000280+ Node-ID rs PDO6 - COB-ID
16#02 RW Wé§ 8 Ï 16#FFgS PDO6 - gS% : ä PDO 4_ /tE : ~% (255)É%IJ (1-240) &É%rIJ (0)
16#03 RW Wé§ 16 Ï 30 gS PDO6 - ¼Z : lmgSZ)`n¼Zoè/Ô 1 ms
16#04 RW Wé§ 8 Ï __ gS PDO6 - L
16#05 RW Wé§ 16 Ï 100 gS PDO6 - ¼Zi¼" : Þc@ß<=l`wôÚÔ` PDO È;`pgSjqoè/Ô 1 ms
2-39
wôUN
r( Altivar 31 s1íîRt)wôäè8/0ÀÁåæ~>ßà Altivar 31 $%8¤ÂST» Altivar 31 8/0ÀÁÃiÄ>
r(åÈÑíîRt)wô
äè8/0ÀÁåæ~>ßà8¤ÂST» Altivar 31 8/0ÀÁÃiÄ>
&' 3&' STUV % HID
16#1A0016#00 RO Wé§ 8 Ï 16#01 gf PDO1 - wôA
16#01 RO Wé§ 32 Ï 16#60410010 gf PDO1 - z 1 wô : ÅÆ> ETAD (16#6041)
16#1A05
16#00 RW Wé§ 8 Ï 16#02 gf PDO6 - wôA : -ä PDO 4_[\ 0 4 ð-
16#01 RW Wé§ 32 Ï 16#60410010 gf PDO6 - z 1 wô : ÅÆ> ETAD (16#6041)
16#02 RW Wé§ 32 Ï 16#60440010 gf PDO6 - z 2 wô : dÓ: RFRD (16#6044)
16#03 RW Wé§ 32 Ï 16#00000000 gf PDO6 : ! 3 [\- 16#04 RW Wé§ 32 Ï 16#00000000 gf PDO6 : ! 4 [\-
####
####
####
Altivar 31
!
!
3-1
3-2
PQ
______________________________________________________________________________________________________ 3-3 ______________________________________________________________________________________________ 3-5
LINE ( ) _______________________________________________________________________________ 3-6 _______________________________________________________________________________________________ 3-10
DRIVECOM __________________________________________________________________________________________ 3-11 _________________________________________________________________________________________________ 3-14 _________________________________________________________________________________________________ 3-16 _________________________________________________________________________________________________ 3-22
____________________________________________________________________________________________ 3-23 ATV31 ATV28 ____________________________________________________________________________________ 3-51
_________________________________________________________________________________________________ 3-52
SA !"#$%&'()*+,-./01/23456789:;<"#=">
?ýþ&BCDEDFGH8IJ45LMNOPQR>-IJ8STUVW"#XYZ[>
3-3
u®
Altivar 31 4_·ð RJ 45 kµ Modbus & CANopen n©k-ïôõKlm> /a54_ /ijkbc2Âef&Qha5>
ÃiÄ/0ÀÁúûijkef_4ßàn8ijki>
m-_`ÀÁKÐ(ä :
• Modbus• CANopen
ßய |¶nÈB8½&Tdcåæ>
-.ST23 (CBdcO ) 'ÃÀÁÄ> Dy / PowerSuite Tw_4ÓNO>
vU>?
k!úû8¹`&:4_ />"#¹`P:K1´´aV5-åæC>ä45bva5:>
i _`DEa :• -. Modbus¹`´×åf8 •••• eE • -. CANopenl1&"l1¹`´×åf8 ••••/•• eE
¹E_`ÄÅmçâÉ8 :• DRIVECOM i • efi • Qhi • Äi • bc&2Âi
Q / W-ìu!& /P8n Read/Write ( / ) ·eúû /_`GH7 :• R: kijkgPwÑæ • R/WS: £ijkgPwÑæM¡!n9£ijkgM-!n • R/W: £ijkgPwÑæÅÆ`ÉM!ïn
3-4
[<=
[xwx
ef&úB45à¡É8: : - Í"ñ - zcÒ (k/. ATV31...A) - é67Í -
Modbus
-
CANopen
ßà:4 _`tElp :- ´y ATV28 ÂÃ/®tE - P/ÞBZtE
(a5 / LAC) & Mixed mode (CHCF) (üêtE CHCF) 4/.ÞßÑætE>CDEÃÀÁÄ Control (ef ) 5·?ÛH>
yz?|
nÌtE48ÍPé678ÍÖû8gù¡!®tE :
(1)
r PSt dc´ NO>
g¦ ? · Drivecom ÅÆ /¿Àn- Altivar ef8Ckdg LI2 LI6 Ñæ` - BC´kdga589sd 1 ( 0 M` )µÌ (DC) g LI2 LI6 Ñæ` - BC´ga589sd 0 ( 1 M` )¡g LI2 LI6 h - BC´¡ga589sd 1 ( 0 M` )
- åæGøù80O ijk?X runÅÆ STOP 9sÍ (LI1) 8 3 nefg
LI1 (3 nef )
h - BC´ STOP 89sd´ 1 ( 0 M ) - åæGøù80O ijk?X runÅÆ
678Íg STOP Ò (1)
h - Stop (g ) Ò - åæGøù80O ijk?X runÅÆ
3-5
ïD
ijk|:`8æ´4 SLL (47 ó ) (-. Modbus) P COL (47 ó ) (-. CANopen) åæbc>äbcí`p4a>Bdc|:btÖ·ðÔÕÅÆ (CANopen COF, Modbus ´ SLF)ÉMåæ¡g>
¡nef> (CMI) (¡nef> ) 8 14 Ï (NTO) U/.h Modbus Qh>äbcí`b>´zV³»hÔÕ91¢.2ã£áPÈBÀê>
3-6
LINE (9 ) <=l)äx [
DRIVECOM
ÜÝ:
3-7
LINE (9 ) <=l)äx [
/n8 Altivar efy DRIVECOM ÄÅ|é8 CANopen DS402 ¤nÅÆã>¶ÅÆGijkzæ´8·ðDF>
¹EìÖZef> (CMD W8501) 'ìû¿ë (D : a5:ÖB )äbÖiË>ijkÅÆ4ÅÆ> (ETA W3201)8:åæ>
áÑ~ (¬¦Ë ):
wå欦Ë>¥MÅÆn\4»>
(bc ):
ijk¬¦Ë¤7>bc&2Â4åæQ>DyøfVPÐef&dBõ0Oh·ZQa5 (CMI W8504 15 Ï = 1)>0O¤7M·ZQ®¯>/ (CMI W8504 15 Ï = 0)ijkÖB>
Ñ~x (ijk¬¦Ë ):
bc&2Â4åæQ> Switched on ( ) ÅÆ`Q·bcb ijk?X Switch on disabled (h )ÅÆ>ijkÖBijk8aŸ¦ÑæsûͧÍ>
à7 (Ñæ ):
k!2Â4_Q>Q·bc (Óg ) b ijk?X Switch on disabled (h ) ÅÆ>ijka5`ÍÓÍ"\>¡R2 (tUn) 1ø·ðÌ>ijkäM®¯´ä@A*.äÅÆ`>
j?| (,g` ):
kdg>9£ijk0O Switch on disabled (h ) ÅÆ4xسR>
PC¦df (ÔÕ1 ):
ijkyä¦ÔÕ|*ê8RC8¥MÅÆ>äijka5h>
PC¦d (ÔÕ ):
ijk!ÔÕ>ijkÖB>
3-8
LINE (9 ) <=l)äx [
CMD [U (W8501)
(1)äÏCV. LAC Access levels ( ) &/0Gbc8a5>Dø / 15 ÏÝO¨©k1bc LAC = L3 (4a5+lpüêtE ) + Ramp switching rPS (¨©ÝO rPS) bcd´ Cd15>
x: ÅÆWC 0
V
1: ? 0 i´ 1
7 Ï 6 Ï 5 Ï 4 Ï 3 Ï 2 Ï 1 Ï 0 Ï
ÔÕÏ 0 0 0 `Ñækdg
( 0 M )hÍ
(´ 0 M )
15 Ï 14 Ï 13 Ï 12 Ï 11 Ï 10 Ï 9 Ï 8 Ï (1) (1) (1) (1) (1) 0 0 0
@A 0O¹` ¬8ÅÆ 7 Ï 3 Ï 2 Ï 1 Ï 0 Ï CMD 8¾¦:
(W8501)Ï `Ñæ kdg hÍ
g 2, 6, 8 Ÿ¦ x x 1 1 0 16#0006
3 x x 1 1 1 16#0007
`Ñæ 4 Ñæ` x 1 1 1 1 16#000F
hÑæ 5 x 0 1 1 1 16#0007
hÍ 7, 9, 10, 12 h x x x 0 x 16#0000
kdg 11 kdg
` x x 0 1 x16#000BP
16#00027, 10 h
ÔÕÏ 15 h 0 V 1 x x x x 16#0080
3-9
LINE (9 ) <=l)äx [
ETA ÜÝU (W3201)
x: ÅÆWC
(1)ETA ÅÆ>8 4 Ï-1. DRIVECOM 8 Voltage disabled (Íh )>
7 Ï 6 Ï 5 Ï 4Ï 3 Ï 2 Ï 1 Ï 0 Ï
< h´ 0 Mkdg
0(1) a5: Ñæ` Ÿ¦
15 Ï 14 Ï 13 Ï 12 Ï 11 Ï 10 Ï 9 Ï 8 Ï
ó0Du STOP Ò
g 0 0 úB: ·úB: $fÓtE ( 0 M )
0
ÅÆ 6 Ï 5 Ï 3 Ï 2 Ï 1 Ï 0 Ï Äb´ 16 8 ETA
(W3201) 16#006Fh kdg a5: Ñæ` Ÿ¦
Ÿ¦ 0 x 0 0 0 0 16#000016#0020
h 1 x 0 0 0 0 16#004016#0060
Ÿ¦ 0 1 0 0 0 1 16#0021
0 1 0 0 1 1 16#0023
Ñæ` 0 1 0 1 1 1 16#0027
a5: 0 x 1 0 0 0 16#000816#0028
a5:1` 0 x 1 1 1 1 16#000F16#002F
kdg` 0 0 0 1 1 1 16#0007
3-10
PCQ
QPC
`aa5D`FH84/PWµ :
(GI
äa594/. 2nOQhef (tCC = 2C, tCt = LEL P PFO)>
|I
äa594/. 2 nOQhef (tCC = 2C, tCt = LEL P PFO)>Dy¡R]hdc´ DC (AdC = Ct)äa5ÖB>
;
9/. ATV 31 ppp A ÚDy¹ef`äa5ÖB (tCC = LOC)>
PCQ:
1/a58Þßc I/O ,8f_·àa5ªäÂÃ>ä !aû8a5¤VÂÃ>Dyïa5ªäÂîdc8a5Sbh.·ða58dc>øbc·a51®QÞº !BC|Ã8a5ÈìBdc ºBC8 Preset speeds (cdÓ ) & Summinginputs (sù& ) a5>
(1) !úB: Fr2 8È«1/>
®a5 (ða55ÉM` ):
ga5®.Ñæ@A>9@AúBdÓ8a5®.t¬úBa5>
F<S,f(PC
`ó8¶·a5v4Ðbú·ðs>ðs4ÉM`ùða5 (D : 0y 2 𨩠) > ä/0®¯Þßàa5ì4_ÉM />
sù&
dÓ
+/-
(1)
fÝOlp
cdÓ
PI 2?k
Ra5
fR¯°
DC
g
kdg
¡g
sù& p A p A
dÓ +/- (1) p p p p
fÝOlp p
cdÓ X p p A
PI 2?k p p p p p p
Ra5 X p X p p
fR¯° p p p
DC g p A
kdg A
¡g X X
p ÂÃa5 ÂÃa5 */
X A ®=G¼8a5®.>
3-11
DRIVECOM Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
8601 6040
CMDD
R/W
DRIVECOM [Uy CMD |É (14 ó )> 0 Ï : : 1 M` 1 Ï :hÍ : 0 M` 2 Ï :kdg : 0 M` 3 Ï :`Ñæ : 1 M` 4 Ï 6 Ï : a : dc´ 07 Ï : ÔÕÏ : \¯° 0 -> 1 ` 8 Ï 10 Ï : a : dc 0
-. (30 ó ) = L1 P L2:
11 Ï = 0: w0@A 11 Ï = 1: 0@A 12 Ï = 0: WRC 12 Ï = 1: V. Stt Stop type (g¦ ) 8g@A 13 Ï = 0: WRC 13 Ï = 1: g@A 14 Ï = 0: WRC 14 Ï = 1: kdg@A 15: a : dc 0
-. LAC (30 ó ) = L3:
BÐb 11 Ï = 0: w0@A 11 Ï = 1: 0@A 12 Ï = 0: WRC 12 Ï = 1: V. Sttg¦8g@A 13 Ï : WRC 14 Ï : WRC 15 Ï : WRC
ß 5 Ï4BCa5>Dø / 15 ÏÝO¨©k1¨©ÝO rPS bc (33 ó ) dc´ Cd15 4>
8602 6042
LFRD
R/W kT)j!kED (vøD ) DSP402: vl j! DRIVECOM: Ej!DÏ : • CMI (15 ó ) 8 9 Ï´ 0_ 1 = 1 rpm• CMI 8 9 Ï´ 1_ 1 ≈ 0.018 Hz (б 32767 Õ = 600 Hz)
8603 6041
ETAD
R
DRIVECOM ÜÝUy ETA |É (16 ó )0 Ï : Ÿ¦ 1 Ï : 2 Ï : Ñæ` 3 Ï = 0: WÔÕ 3 Ï = 1: a5:ÔÕ²¿ (FAI)4 Ï : Íh 5 Ï : kdg 6 Ï : h 7 Ï = 0: W< 7 Ï = 1: <²¿ 8 Ï : a 9 Ï = 0: $fÓtEwåæ (FLO)9 Ï = 1: W$fÓtE 10 Ï = 0: ·úB: (¥MÅÆ )10 Ï = 1: ·úB: (BÅÆ )11 Ï = 0: LFRD úB:w 11 Ï = 1: LFRD úB:û (< LSP P > HSP) : LFRD _ rpm · LSP & HSP _ Hz ·
12 Ï& 13 Ï : a 14 Ï = 0: !zcÒ (ATV31...A) Pé678Í\8 STOP Òúûg@A> 14 Ï = 1: !zcÒ (ATV31...A) Pé678Í\8 STOP Òúûg@A> 15 Ï = 0: wuó0 (sûj )15 Ï = 1: uó0 (sûj )
3-12
DRIVECOM Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
8605 6043
FRHD
R j!kED (vøS, ) DSP402: vl j!ùL DRIVECOM: wj!ÁÏ : 1 rpm
8604 6044
RFRD
R STj! (vøD )
DSP402: vl [ DRIVECOM: j!DÏ : • CMI (15 ó ) 8 9 Ï´ 0_ 1 = 1 rpm• CMI 8 9 Ï´ 1_ 1 ≈ 0.018 Hz (б 32767 Õ = 600 Hz )
8606 603F
ERRD
R MN
DSP402: ghMN DRIVECOM: PC¦dMN
0000H = "nOF": WÔÕ 1000H = "CrF": ÃkäÔÕP
= "OLF": ÓfÔÕP = "SOF": ÓdÔÕ
2310H = "OCF": ÌÔÕ 2320H = "SCF": hÌÔÕP
= "SCF": àtÔÕS- ATV31 p D15 p 2330H = "SCF": ÓÌÔÕ (¹ ) 2340H = "SCF": ÓÌÔÕ (| -| ) 3110H = "OSF": nÌàÍÔÕ 3120H = "USF": nÌà³ÍÔÕ 3130H = "PHF": nÌà||ÔÕ 3310H = "ObF": µÌ2nÍÔÕP
= "OPF": Ó||ÔÕP = "OPF": Ó||ÔÕ - 3 |
4210H = "OHF": ijkÔÕ 5520H = "EEF":
EEPROM uÔÕ
6100H = "InF": zÔÕ 6300H = "CFF": bc ( ) '(P
= "CFI": bc ( ) Wµ 7300H = "LFF":
AI3 \8 4 - 20 mA ÔÕ
7510H = "SLF":
Modbus ÔÕ 8100H = "COF": CANopen ÔÕ 9000H = "EPF": @ÔÕ FF00H = "tnF": ¡RÔÕ2? FF01H = "bLF": fRefÔÕ
8607 - 8608
6046 / 1
SMIL
R/W `pj!
DSP402: vl j!`D DRIVECOM: j!`Dd:|£. LSP (23 ó )Ï´ rpmÏ : 1 rpm 32 Ï> (Ï@A : 8607Ï@A : 8608)2ÂÚ : 0 HSP (23 ó )
8609 - 8610
6046 / 2
SMAL
R/W `j! DSP402: vl j!`aD DRIVECOM: j!`aDd:|£. HSP (23 ó )Ï rpmÏ : 1 rpm 32 Ï> (Ï@A : 8609Ï@A : 8610)2ÂÚ : LSP (23 ó ) tFR (27 ó )
8611 - 8612
6048 / 1
SPAL
R/W j! - j!Áå
/.U«d¨©8dÓÏ : 1 rpm 32 Ï> (Ï@A : 8611Ï@A : 8612)2ÂÚ : 1 65535
8613 6048 / 2
SPAT
R/W j! - ¼ZÁå/.U«d¨©8M© (? 0 SPAL 8M© ) Ï : 1 s2ÂÚ : 0 65535
3-13
DRIVECOM Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
8614 - 8615
6049 / 1
SPDL
R/W j! -j!Áå/.U«d¨©8dÓÏ : 1 rpm 32 Ï> (Ï@A : 8614Ï@A : 8615)2ÂÚ : 1 65535
8616 6049 / 2
SPDT
R/W j! - ¼ZÁå/.U«d¨©8M© (? 0 SPDL 8M© )Ï : 1 s2ÂÚ : 0 65535
3-14
[Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
8501 2037 / 2
CMD
R/W [U 0 Ï : : 1 M 1 Ï :hÍ : 0 M` 2 Ï :kdg : 0 M` 3 Ï :`Ñæ : 1 M` 4 Ï 6 Ï : a : dc´ 0 7 Ï : ÔÕÏ : \¯° 0 -> 1 ` 8 Ï 10 Ï : a : dc 0
-. LAC (30 ó ) = L1 P L2:
11 Ï = 0: w0@A 11 Ï = 1: 0@A 12 Ï = 0: WRC 12 Ï = 1: V. Sttg¦ 8g@A 13 Ï = 0: WRC 13 Ï = 1: g@A 14 Ï = 0: WRC 14 Ï = 1: kdg@A 15 Ï : a : dc´ 0
-. LAC (30 ó ) = L3:
BÐb 11 Ï = 0: w0@A 11 Ï = 1: 0@A 12 Ï = 0: WRC 12 Ï = 1: V. Sttg¦8g@A 13 Ï : WRC 14 Ï : WRC 15 Ï : WRC
ß 5 Ï4BCa5>Dø / 15 ÏÝO¨©k1¨©ÝO rPSbc (33 ó ) dc´ Cd15 4>
8502 2037 / 3
LFr
R/W kT)ÌqkED (vøD )
Ï : • CMI (15 ó ) 8 9 Ï´ 0_ 1 = 0.1 Hz• CMI 8 9 Ï´ 1_ 1 ≈ 0.018 Hz (б 32767 Õ = 600 Hz)
8503 2037 / 4
PISP
R/W kT) PI !"kED
Ï : 0.1%2ÂÚ : 0 1000
3-15
[Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
8504 2037 / 5
CMI
R/W [U 0 Ï = 0: WRC 0 Ï = 1: 2/Bdc@A>£ùcMäÏ¡RÏ´ 0>9£ijk¤VgMm : ETI.4 = ETI.5 = 0.1 Ï = 0: WRC 1 Ï = 1: DyÍ÷ý (W USF ÔÕ ) _bbc /2 EEPROM >£ùcMäÏ¡RÏ´ 0>9£ijk¤VgMm`> (ETI.0 = 1) 5-åæC> 2 Ï& 3 Ï : a 4 Ï = 0: WRC 4 Ï = 1: ¨©ÝO@A 4 Ï 8 Ï : a 9 Ï = 0: wб (_op´Ï rpm & Hz ·8úB:sûdÓ&sûj )9 Ï = 1: б ( 32767 Õ7 600 Hz 8úB:sûdÓ&sûj )10 Ï 12 Ï : a 13 Ï = 0: ijk]hMÖB> 13 Ï = 1: ijk]hMÖB> 14 Ï = 0: / Modbus Qh8ef 14 Ï = 1: / ! Modbus Qh8ef (NTO)
´zV³»h Modbus ÔÕ (NTO) 91¢.2ã£áPÈBÀê>
15 Ï = 0: ·ZQ 15 Ï = 1: !·ZQ + ijk]hMÖB (äÏÝO 0 bxØ G!!µ )
5240 2016 / 29
IOLR
R/W I/O )D (0 = ` 1 = ` )0 Ï 7 Ï : 4_tE 8 Ï : R1ksû8:DyBC R1 _4_tE> 9 Ï : R2ksû8:DyBC R2 _4_tE> 10 Ï : LO9sû8:DyBC LO _4_tE> 11 Ï 13 Ï : a 14 Ï : 4_tE 15 Ï : a
5261 2016 / 3E
AO1R
R/W <ST)DDy dO (29 ó ) BC_ AO1R 4_ tE>iËÚ : 0 10000Dy AO1t = 10U_: 10000 -1. 10VPDy AO1t = OA P 4A (28 ó ) _: 10000 -1. 20 mA
3-16
DÁ
Modbus ¹`
CANopen ¹`
GH / /FH /45:
3201 2002 / 2
ETA
R ÜÝU 0 Ï : Ÿ¦ 1 Ï : 2 Ï : Ñæ` 3 Ï = 0: WÔÕ 3 Ï = 1: a5:ÔÕ²¿ (FAI)4 Ï : Íh (pO. 0)5 Ï : kdg 6 Ï : h 7 Ï = 0: W< 7 Ï = 1: <²¿ 8 Ï : a 9 Ï = 0: $fÓtEwåæ (FLO)9 Ï = 1: W$fÓtE 10 Ï = 0: ·úB: (¥MÅÆ )10 Ï = 1: ·úB: (BÅÆ )11 Ï = 0: LFRD úB:w 11 Ï = 1: LFRD úB:û (< LSP P > HSP) : LFRD _ rpm · LSP & HSP _ Hz · 12 Ï& 13 Ï : a 14 Ï = 0: !zcÒ (ATV31...A) Pé678Í\8 STOP Òúûg@A> 14 Ï = 1: !zcÒ (ATV31...A) Pé678Í\8 STOP Òúûg@A> 15 Ï = 0: wuó0 (sûj )15 Ï = 1: uó0 (sûj )
3202 2002 / 3
rFr
R (4)STÌq (vøD )Ï : • CMI (15 ó ) 8 9 Ï´ 0_ 1 = 0.1 Hz• CMI 8 9 Ï´ 1_ 1 ≈ 0.018 Hz (б 32767 Õ = 600 Hz )
3203 2002 / 4
FrH
R Å)ÌqkED (wD )Ï : 0.1 Hz
3204 2002 / 8
LCr
R 4l)Ï : 0.1 A
3205 2002 / 6
Otr
R 4;Ï : 1%100% = µBÓ0ú /bcU«>
3211 2002 / C
OPr
R 4
Ï : 1%100% = µBÓà /bcU«>
3207 2002 / 5
ULn
R Ï : 0.1 V (µÌ2núû8nÍÓ*.ÑæPgÅÆ )
3209 2002 / A
tHd
R ÁÌ"ÜÝ
Ï : 1%100% = µBÅÆ 118% = OHF¶: (ijk )
3210 2002 / B
TDM
R *ÁÌ")`aÜÝ
Ï : 1%100% = µBÅÆ 118% = OHF¶: (ijk )£ijkíM¡RÏ´r>
9630 2042 / 1F
tHr
R 4ÜÝÏ : 1%100% = µBÅÆ 118% = OLF¶: (Óf )
3231 2002 / 20
rtH
R à7¼ZÏ : 1 MBdc : 02ÂÚ : 0 65535
Ó8M©>4 rPr Ï´r (48 ó ).
3-17
DÁ
Modbus ¹`
CANopen ¹`
GH / /FH /45:
12002 205A / 3
USPL
R (,è/:G)4j! - p/78Ï : 1 USPL/USPH = rFr x SdS Ï\8 32 (25 ó& 16 ó )>
12003 205A / 4
USPH
R (,è/:G)4j! - /78
Ï : 1 USPL/USPH = rFr x SdS Ï\8 32 bits (25 ó& 16 ó )>
3206 2002 / 7
ETI
R ÜÝU 0 Ï = 0: ·n 0 Ï = 1: ·n (ijkw£»? RAM EEPROM )1 Ï = 0: !·ZQ + ijk]hMÖB 1 Ï = 1: ·ZQ 2 Ï = 0: ÔÕÏ·n 2 Ï = 1: ÔÕÏ·n 3 Ï : a 4 Ï = 0: Óg 4 Ï = 1: ÓÑ0 5 Ï = 0: WµÌ 5 Ï = 1: µÌ 6 Ï = 0: ijk*.BÅÆ 6 Ï = 1: ijk*.¥MÅÆ 7 Ï = 0: WÓf 7 Ï = 1: Óf 8 Ï = 0: DyÓfRMbÖû< 8 Ï = 1: DyÓfRMSbÖû< 9 Ï = 0: ijkd 9 Ï = 1: ijkd 10 Ï = 0: ijkd 10 Ï = 1: ijkd 11 Ï = 0: WÌ:< 11 Ï = 1: Ì:< 12 Ï = 0: !åækdg 12 Ï = 1: åækdg 14 Ï = 0 & 13 Ï = 0: ijkÍ"ñPzcEÒef (ATV31....A)14 Ï = 0 & 13 Ï = 1: ijké67Íef 14 Ï = 1 & 13 Ï = 0: ijk ModBus ef 14 Ï = 1 & 13 Ï = 1: ijk CanOpen ef 15 Ï = 0: _ùwuó0 (úB: )15 Ï = 1: _ùuó0 (úB: )
3250 2002 / 33
LRS1
R [U 1 0 Ï : a 1 Ï = 0: WijkÔÕ 1 Ï = 1: ijkÔÕ 2 Ï = 0: Óg 2 Ï = 1: ÓÑ0 3 Ï : a 4 Ï = 0: ·j¶: (Ftd)4 Ï = 1: ·j¶: (Ftd)5 Ï = 0: ·d: 5 Ï = 1: ·d: 6 Ï = 0: ·dÓ¶: (Ctd)6 Ï = 1: ·dÓ¶: (Ctd)7 Ï = 0: ·dÓúB: 7 Ï = 1: ·dÓúB: 8 Ï = 0: WÓf< 8 Ï = 1: Óf< 9 Ï = 0: WfRef (fR / )9 Ï = 1: fRefwåæ (fR )10 Ï& 11Ï : a 12 Ï = 0: 4-20 mA ÔÕ |: 12 Ï = 1: 4-20 mA ÔÕ|: 13 Ï : a 14 Ï = 0: Wijkf< 14 Ï = 1: ijkf< 15 Ï : a
3-18
DÁ
Modbus ¹`
CANopen ¹`
GH / /FH /45:
3252 2002 / 35
LRS3
R [U 3 0 Ï = 0: úB: Fr1 úû 0 Ï = 1: úB: Fr2 úû 1 Ï = 0: @A Fr1 P Cd1 úû 1 Ï = 1: @A Fr2 P Cd2 úû 2 Ï = 0: ACC & DEC /C¨© 2 Ï = 1: ACC2 & DEC2 /C¨© 3 Ï = 0: CLI /.Ì: 3 Ï = 1: CL2 /.Ì: 4 Ï 10 Ï : a 11 Ï = 0: /Ó 111 Ï = 1: /Ó 112 Ï = 0: /Ó 212 Ï = 1: /Ó 213 Ï 15 Ï : a
5240 2016 / 29
IOLR
R I/O )D
(0 =` 1 = ` )0 Ï : 9s LI18: 1 Ï : 9s LI28: 2 Ï : 9s LI38: 3 Ï : 9s LI48: 4 Ï : 9s LI58: 5 Ï : 9s LI68: 6 Ï : a 7 Ï : ìu!Ò : 0 = W 1 = ! 8 Ï : R1ksû8:DyBC R1 _4_tE> 9 Ï : R2ksû8:DyBC R2 _4_tE> 10 Ï : LO9sû8:DyBC LO _4_tE> 11 Ï : a 12 Ï : a 13 Ï : a 14 Ï : 0 = AOC/AOV 9sû 1 = AOC/AOV t¬sû 15 Ï : a
5241 2016 / 2A
AIPC
R <S, AIP )D (ATV31...A ÁÌ"/i )
Ï : 1 mViËÚ : 0 10000
5242 2016 / 2B
AI1C
R <S, AI1 )DÏ : 1 mViËÚ : 0 10000
5243 2016 / 2C
AI2C
R <S, AI2 )D
Ï : 1 mViËÚ : -10000 10000
5244 2016 / 2D
AI3C
R <S, AI3 )DÏ : 1 µ AiËÚ : 0 20000
5261 2016 / 3E
AO1R
R <ST)D
Dy dO (29 ó ) BC_ AO1R 4_ tE>iËÚ : 0 10000Dy AO1t = 10U_: 10000 -1. 10VPDy AO1t = OA P 4A (28 ó )_: 10000-1. 20 mA>
3-19
DÁ
Modbus ¹`
CANopen ¹`
GH / /FH /45:
7121 2029 / 16
LFt
R ×m ÔÕ):äÔÕpijkíV) LFt Ï> 0 = "nOF": WÔÕ 3 = "CFF": bc ( ) '( 4 = "CFI": bc ( ) Wµ 5 = "SLF": Modbus ÔÕ 8 = "EPF": @ÔÕ 9 = "OCF": ÌÔÕ 10 = "CrF": ÃkäÔÕ 13 = "LFF": AI3\ 8 4 - 20 mA ÔÕ 16 = "OHF": ijkÔÕ 17 = "OLF": ÓfÔÕ 18 = "ObF": µÌ2nÍÔÕ 19 = "OSF": nÌàÍÔÕ 20 = "OPF": Ó||ÔÕ 21 = "PHF": nÌà||ÔÕ 22 = "USF": nÌà³ÍÔÕ 23 = "SCF": ÓÌÔÕ (| -| )24 = "SOF": ÓdÔÕ 25 = "tnF": ¡RÔÕ2? 26 ~ 29 = "InF": zÔÕ 30 = "EEF": EEPROM uÔÕ 31 = "SCF": hÌÔÕ 32 = "SCF": ÓÌÔÕ (¹ )33 = "OPF": Ó||ÔÕ - 3 | 34 = "COF": ÔÕ 2 æ (CANopen)35 = "bLF": fRefÔÕ 36 = "SCF": àtÔÕS- ATV31 p D15 p
7201 202A / 2
DP1
R
1
¡ (y 19 ó\ LFteE|É )
7202 202A / 3
DP2
R
2
¡ (y 19 ó\ LFteE|É )
7203 202A / 4
DP3
R
3
¡ (y 19 ó\ LFteE|É )
7204 202A / 5
DP4
R
4
¡ (y 19 ó\ LFteE|É )
3-20
DÁ
Modbus ¹`
CANopen ¹`
GH / /FH /45:
7211 202A / C
EP1
R ·M 1 ¡¼ÁÌ")ÜÝ 0 Ï = É ETA.1:
- 0: ijk !S¸ - 1: ijkS¸ (RDY)
1 Ï = É ETA.5:- 0: w,g - 1: !,g
2 Ï = É ETA.6:- 0: ! SWITCH ON DISABLED (h ) ÅÆ - 1: SWITCH ON DISABLED (h ) ÅÆ
3 Ï = É ETA.9: a 4 Ï = É ETA.15:
- 0: wuó0 (sûj )- 1: uó0 (sûj )
5 Ï = É ETI.4:- 0: Óg - 1: ÓÑ0
6 Ï = É ETI.5:- 0: WµÌ - 1: µÌ
7 Ï = É ETI.7:- 0: !Óf< - 1: Óf<
8 Ï = É ETI.8: a 9 Ï = É ETI.9:
- 0: ijk !d - 1: ijkd
10 Ï = É ETI.10:- 0: ijk !d - 1: ijkd
11 Ï = É ETI.11:- 0: WÌ:< - 1: Ì:<
12 Ï = É ETI.12: a 13 Ï& 14 Ï = É ETI.13 & ETI.14:
- 14 Ï = 0 & 13 Ï = 0: ijkÍ"ñPzcEÒef (ATV31....A)- 14 Ï = 0 & 13 Ï = 1: ijké67Íef - 14 Ï = 1 & 13 Ï = 0: ijk ModBus ef - 14 Ï = 1 & 13 Ï = 1: ijk CanOpen ef
15 Ï = É ETI.15:- 0: 15 Ï = 0: _ùwuó0 (úB: )- 1: 15 Ï = 1: _ùuó0 (úB: )
7212 202A / D
EP2
R ·M 2 ¡¼ÁÌ")ÜÝ (y EP1eE|É )
7213 202A / E
EP3
R ·M 3 ¡¼ÁÌ")ÜÝ (y EP1eE|É )
7214 202A / F
EP4
R ·M 4 ¡¼ÁÌ")ÜÝ (y EP1eE|É )
6056 201E / 39
ErCO
R
CANopen:
ghUÏ : 1Ú : 0 40: "No error" (W'( )1: "Bus off error" (n'( )2: "Life time error" (@!'( )3: "CAN overrun" (CAN )4: "Heartbeat error" (?¹'( )
8541 2037 / 2A
CMI1
R
Modbus [U¢£ ( Modbus :W )y CMI (15 ó ) |É>
3-21
DÁ
Modbus ¹`
CANopen ¹`
GH / /FH /45:
8542 2037 / 2B
CMI2
R
CANopen
[U¢£ ( CANopen :W )y CMI (15 ó ) |É
8521 2037 / 16
LFR1
R
Modbus
ÌqkED¢£
( Modbus :W )y LFr (14 ó ) |É>
8522 2037 / 17
LFR2
R
CANopen
ÌqkED¢£ ( CANopen :W )y LFr (14 ó ) |É>
8631 2038 / 20
LFD1
R
Modbus
j!kED¢£
Modbus :W8dÓúB:>y LFRD (11 ó ) |É>
8632 2038 / 21
LFD2
R
CANopen
j!kED¢£ CANopen :W8dÓúB:>y LFRD (11 ó ) |É>
8531 2037 / 20
PIR1
R
Modbus PI
kED¢£
( Modbus :W )y PISP (14 ó ) |É>
8532 2037 / 21
PIR2
R
CANopen PI
kED¢£ ( CANopen :W ) y PISP (14 ó ) |É>
3-22
bÁ
Modbus ¹`
CANopen ¹`
GH / /FH /45:
3011 2000 / C
NCV
R ÁÌ"ED 0 = H 1 = 018 (0.18 kW)2 = 037 (0.37 kW)3 = 055 (0.55 kW)4 = 075 (0.75 kW)5 = U11 (1.1 kW)6 = U15 (1.5 kW)7 = U22 (2.2 kW)8 = U30 (3 kW)9 = U40 (4 kW)10 = U55 (5.5 kW)11 = U75 (7.5 kW)12 = D11 (11 kW)13 = D15 (15 kW)
3012 2000 / D
VCAL
R ÁÌ" 0 = H 1 = M2 (200...240 V | )2 = M3X (200...240 V 3 | )3 = N4 (380...500 V 3 | )4 = S6X (525...600 V 3 | )
3017 2000 / 12
INV
R ÁÌ"E
Ï : 0.1 A
3010 2000 / B
ZON
R ÁÌ"%
0 = H 1 = ATV31……(ijk !zcÒ )3 = ATV31……(ijk!zcÒ )
3401 2004 / 2
TSP
R ÁÌ"¤%
즷ð ASCII >2¼B A : ÄÅì
3302 2000 / 4
UdP
R ÁÌ"¤ý_ 2 ð>?H>
- Ï@A>? : ì¯l1 (UI) ×åfeE - Ï@A>? : ì (V) ×åfeED : -. V1.2 IE04, UdP = 16#1204
3-23
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
3105 2001 / 6
LSP
R/W pjÏ : 0.1 HzBdc : 02ÂÚ : 0 HSP(¬úB:M8Ój )
3104 2001 / 5
HSP
R/W j
Ï : 0.1 HzBdc : Dy bFr = 50: 500Dy bFr = 60: 6002ÂÚ : LSP tFr(¬úB:M8Ój ): ÞºädcéêÓ&1/8øù>
9622 2042 / 17
ItH
R/W 4 - `aÏ : 0.1 ABdc : ijkµB:VB2ÂÚ : 0.2 1.5 µBÌ (1)dc ItH ´Óº»\8µBÌ>Dy67¼f 47 ó8 OLL> (1)-1.zÀÁ¼78&ijkº»\8ijkµBÌ>
9623 2042 / 18
UFr
R/W
IR
¦§ /ð¨Ï : 1%Bdc : 202ÂÚ : 0 100 - -. UFt (27 ó ) = n P nLd: IR ½ - -. UFt = L P P: ÍЯ/.r8dÓMË0ú (Dy0ú÷ UFr)>Q+Þº£ÓiM8 Ufr :3 (B8¾¿ )>
Q UFt (27 ó ) b t UFr iXBdc (20%)> 9620 2042 / 15
FLG
R/W Ìq©ª«
Ï : 1%Bdc : 202ÂÚ : 1 1009£ UFt (27 ó ) = n P nLd M`> FLG ¹EGÀRd¸8ÁÜ2ÂdÓ¨©8_`>Â3bvÓkBCB>
9621 2042 / 16
StA
R/W Ìq©KEÏ : 1%Bdc : 202ÂÚ : 1 1009£ UFt (27 ó ) = n P nLd M`>/.dÓ¥i (dPd ) ?XƹEÓk8R¨´ÈZ>ÃBZ_vwd>
9625 2042 / 1A
SLP
R/W ;¦§
Ï : 1%Bdc : 1002ÂÚ : 0 1509£ UFt (27 ó ) = n P nLd M`>/.2ÂÓµBdÓìB80^½:>Óº»\úû8dÓ:®ÄÅÞ>DydB0^ < 0^ : ÓÆM_wÞdÓ0R>DydB0^ > 0^ : Ó½dÓB>
11301 2053 / 2
JPF
R/W ¬;ÌqÏ : 0.1 HzBdc : 02ÂÚ : 0 5000Æh JPF Ç8 ±1Hz ÚzÈÒBC>äa5Æhû¿4vÉ8dÓ>gäa5dc
0 ³C/>
3-24
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
11302 2053 / 3
JF2
R/W z 2 R¬;ÌqÏ : 0.1 HzBdc : 02ÂÚ : 0 5000Æh JF2 Ç8 ±1Hz ÚzÈÒBC>äa5Æhû¿4vÉ8dÓ>gäa5dc
0 ³C/> 9201 203E / 2
CLI
R/W VD
Ï : 0.1 ABdc : 1.5 In (1)2ÂÚ : 0.25 1.5 In (1)/.f0ú&Óʯ> (1)-1.zÀÁ¼78&ijkº»\8ijkµBÌ>
11701 2057 / 2
tLS
R/W pjκ¼ZÏ : 0.1 sBdc : 0 (WM©f )2ÂÚ : 0 9999dÑæ·áM©¡RÖûÓgù>DyjúB:. LSP+,Ñæ@ApDÓSbxسR> : :´ 0 M-1.WM©>
11003 2050 / 4
Ftd
R/WS 4ÌqD
Ï : 0.1 HzBdc : bFr2ÂÚ : 0 5000Ój¶:D.ä¶:ktÕ (R1 P 2 = FtA) êPsû AOV = 10 V (dO = StA)
11002 2050 / 3
ttd
R/WS 4ÝDÏ : 1%Bdc : 1002ÂÚ : 0 118Óƶ:D.ä¶:ktÕ (R1 P 2 = tSA) êPsû AOV = 10 V (dO = tSA)
11001 2050 / 2
Ctd
R/WS 4D
Ï : 0.1 ABdc : In (1)2ÂÚ : 0 1.5 In (1)Ó̶: D.ä¶:ktÕ (R1 P 2 = CtA) êPsû AOV = 10 V (dO = CtA) (1)-1.zÀÁ¼78&ijkº»\8ijkµBÌ>
3-25
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
12001 205A / 2
SdS
R/W
USPL/USPH Ju®¯A (USPL/USPH = rFr x SdS) » USPL / USPH 17ó>Ï : 0.1 Bdc : 3002ÂÚ : 0 2000
ä'bË\ SUP 5867 SPd1/SPd2/SPd3 (»ÃÀÁÄ )> 3015 2000 / 10
bFr
R/WS 4Ìq
Bdc : 00 = "50"1 = "60"50 Hz: IEC60 Hz: NEMAäøQ`a8c: : HSP 23 ó Ftd 24 ó FrS 25 y tFr 27 ó>
9601 2042 / 2
UnS
R/WS °±kT)4EÏ : 1 VBdc : ijkµB:VB2ÂÚ : ijkµB:VB ATV31
ppp
M2: 100 240 V
ATV31
ppp
M3X: 100 240 V
ATV31
ppp
N4: 100 500 V
ATV31
ppp
S6X: 100 600 V
9602 2042 / 3
FrS
R/WS °±kT)4EÌqÏ : 0.1 HzBdc : Dy bFr=50: 500 Dy bFr=60: 6002ÂÚ : 100 5000
¥: 5`a: :
ATV31
ppp
M2: ¬´ 7> ATV31
ppp
M3X: ¬ 7>
ATV31
ppp
N4: ¬´ 14>
ATV31
ppp
S6X: ¬´ 17>
9603 2042 / 4
nCr
R/WS °±kT)4E
Ï : 0.1 ABdc : ijkµB:VB2ÂÚ : 0.25 1.5 In (1) (1)-1.zÀÁ¼78&ijkº»\8ijkµBÌ>
UnS (in volts)FrS (in Hz)
3-26
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
9604 2042 / 5
nSP
R/WS °±kT)4Ej!Ï : 1 rpmBdc : ijkµB:VB2ÂÚ : 0 32767 RPM 0 9999 RPM then 10.00 to 32.76 KRPMDyìµBdÓº»bÄûÉ%0d&_ Hz PÌÐ¥780^ |`aE"U«µBdÓ :
µBdÓ = É%0d xPµBdÓ = É%0d x (50 Hz Ó )PµBdÓ = É%0d x (60 Hz Ó )
9606 2042 / 7
COS
R/WS 4°±kT)Pq\A (Cos Phi)Ï : 0.01 Bdc : ijkµB:VB2ÂÚ : 50 100
9643 2042 / 2C
rSC
R/WS E3²Ý³Bdc : 0
0 = "nO": a5`>-.W¯Z581/Pijk¶pM5;c¡R2? (ÌøþÓ ) 81/> 1 = "InIt": `äa5>´ÐdZ5WMÓ*.ÍÎÆ> >1 =" XXXX"XXXX: G/8B"ÏÆ:_ m Ω ´Ï> : $ÐЯ&Ñ1/`äa5>9£Ó*.ÏÆM`äa5 (InIt)>£ rSC = InIt tUn $f´ Pon>`·Ñæ@AP`p/¡R2?a5hB"> rSC Di´ä: (XXXX) +·µm tUn pm´$f: Pon>kø' !åæh rSC Sm´ InIt>4 / Ò$fdBPQ: XXXX> XXXX -1.ï|©h:8·Ñ>
9608 2042 / 9
tUn
R/WO 4 [(!Bdc : 0åæ¡R2?)»G!8Ó (UnS, FrS, nCr, nSP, COS) v¯wÞbc>
0 = "nO": åæ¡R2?> 112 = "YES": !45Såæ¡R2?Dyû¿ÔÕS¡Ri dOnE P nO (Dy tnL = YES (» 48 ó ) Sb67 tnF ÔÕ )> 113 = "dOnE": /ä:4úû§æ¡R2?8¬M©> 114 = "rUn": ¶pÖûÑæ@AM§æ¡R2?> 115 = "POn": ¶pM§æ¡R2?> 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
LI1 LI6: Ðbúäa589s? 0 0i 1 M§æ¡R2?> : Dy rSC ì nO, tUn $f´ POn>DyW@A`9§æ¡R2?>Dy¡gPkdga5Ðbú·ð9s_äs®¯dc 1 (´ 0 M` )>¡R2?4m 1 2 d> +íO[67i "dOnE" P "nO">
¡R2ÂÓ_µBÌÑæ>
100 - _ÌÐ¥780 100
50 - _ Hz780 50
60 - _ Hz780 60
3-27
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
9609 2042 / A
tUS
R (¥EÜÝBdc : 00 =" tAb": |$B":/.efÓ> 1 = "PEnd": ù¡RÂB' !åæ> 2 = "PrOG": ¡RÂBwåæ> 3 = "FAIL": ¡RÂB:Ò> 4 = "dOnE": ¡RÂBa5h8B":/.efÓ> 5 = "Strd": /.efÓ8ÏÆB" (ì rSC Ý1©´ nO)>
9607 2042 / 8
UFt
R/WS /ÌqED%)±Bdc : 20 = "L": ÓB0ú-.+ÓPÈ«Ó> 1 = "P": 4i0ú/.ÔPÕÖ> 2 = "n": -.ÓB0ú1/8Wr×kÁØef> 3 = "nLd": $-.W1RÆZ584i0ú1/ (Z5Ù.WÚfM8 P ¥y!ÚfM8 n ¥ )>
3107 2001 / 8
nrd
R/WS ´4µ¿Ìq
Bdc : 10 = "nO": ìBj 1 = "YES": LÓ2fjLÓ2fj4ÆhìBjÖ8"#ÛÉ>
3102 2001 / 3
SFr
R/W %ÌqÏ : 0.1 kHzBdc : 40 2ÂÚ : 20 16042Âj_ÓI8ÜÝ>Dydc8j:. 4kHzÊÓû¿~\¯Mijkb¡R'j·ÊÓwV'j>
3103 2001 / 4
tFr
R/WS `aSTÌq
Ï : 0.1 HzBdc : Dy BFR =50 : 600 Dy BFR =60 : 7202ÂÚ : 100 5000
9101 203D / 2
SrF
R/WS j!©¶·")¸[
Bdc : 00 = "nO": `dÓJÞJk (ÆhúB: )> 1 = "YES": dÓJÞJk¼f (Ïcef1/ßb\1M©!452 )>
8001 2032 / 2
SCS
R/WS #:;
Bdc : 00 = "nO": a5`> 2 = "Str1": EEPROM £»bc (ì¡R2?8@y )>kø·§æ SCS S¡Ri nO>äa5/. £»bc'4u8bc>£ijkûM£»bcy¸ßbcv¬¦Ë´Bbc>
Dy4Þé8Íijk\Sbû¿`aµ@Þ : 11 = "FIL1" 12 = "FIL2"13 = "FIL3" 14 = "FIL4"
FIL1, FIL2, FIL3, FIL4 é8Í8 EEPROM uk/.u£»bc8> /.u 1-4 ðÉ8bcßàbcU4uPrZ!|ɵB:8ijk\>kø·§æ SCS S¡Ri´ nO>
3-28
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
8002 2032 / 3
FCS
R/WS ¹ºÎ»È; /¼.:;Bdc : 00 = "nO": a5`> 2 = "rEC1": £»bci´y SCS = StrI M8¸ßbc|É>Dy§æ¸ßdc4y rECI>äa5·§æ FCS S¡Ri nO> 64 = "InI": £»bci´yBdc|É>äa5·§æ FCS S¡Ri nO>
Dy4Þé8Íijk\kø-1 (0-4 ð ) fé8Í8 EEPROM ukSbû¿`aµ@Þ : 11 = "FIL1": 678Í 1 ´B 12 = "FIL2": 678Í 2 ´B 13 = "FIL3": 678Í 3 ´B 14 = "FIL4": 678Í 4 ´Bm4 £»bcé8Í\f8 4 bc)·&G>äa5·§æ FCS S¡Ri´ nO>
11101 2051 / 2
tCC
R/WS
2
/3 [
(ef¦ )Bdc : 0 ATV31 ppp A: 2 @efbc : 0 = "2C" = nef : sefÑæPg8ô'êÅÆ> 1 = "3C" =
3 nef (+àef ) :wuPu+à÷_ef³Rg+à÷_e
fg> 2 = "LOC "= Óef (ijkÑæ /g /Ï ) 9/. ATV31 ppp A (Dy LAC = L34»» 30 ó )>
Q tCC 8BCb _`a5?XBdc : rrS tCt &G!Ë\9s8a5>
11102 2051 / 3
tCt
R/WS [% (9 tCC = 2C M4 )Bdc : 10 = "LEL ": ÅÆ 0 P 1 /.ÑæPg> 1 = "trn": ´ÆhàíáDxسR1ø·ðÅÆ8Qi (âiPQ°ái ) Ü'¦BC 2 = "PFO": ÅÆ 0 P 1 /.ÑæPgwusì¥us¡!®n>
11105 2051 / 6
rrS
R/WS S,à7
Bdc : - Dy tCC = 0: 130 - Dy tCC = 1: 131 - Dy tCC = 2: 0
If rrS =
nOuÑæ`D AI2 \8ÚÍ> 0 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
4434 200E / 23
CrL3
R/WS pj (LSP) ¼S, AI3 )DÏ : 0.1 mABdc : 402ÂÚ : 0 200CrL3 & CrH3 /.bc 0-20 mA, 4-20 mA, 20-4 mA Os>
4444 200E / 2D
CrH3
R/WS j (HSP) ¼S, AI3 )D
Ï : 0.1 mABdc : 2002ÂÚ : 40 200 CrL3 & CrH3 /.bc 0-20 mA, 4-20 mA, 20-4 mA Os>
4601 2010 / 2
AO1t
R/WS <ST:;Bdc : 21 = "10U": 0 - 10 V bc ( /8Í AOV)> 2 = "0A": 0 - 20 mA bc ( /8Í AOC)> 3 = "4A": 4 - 20 mA bc ( /8Í AOC)>
3-29
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
5031 2014 / 20
dO
R/WS < /ST AOC/AOVBdc : 00 = "nO": Ðb>-._`BCsû´t¬¦ :129 = "OCr": ÓÌ> 20 mA P 10 V -1.ïã8ijkµBÌ> 130 = "OFr": Ój> 20 mA P 10 V -1.¬j tFr (27 ó )> 132 = "Otr": Ó0ú> 20 mA P 10 V -1.ïã8ÓµB0ú> 139 = "OPr": ijk8a> 20 mA P 10 V -1.ïã8ijkµBa>
-._`BCsû´9¦ (»zÀÁ8ã ) :
D!ßàÐb bc AO1t = 0A>
1 = "FLt": ijkÔÕ 2 = "rUn": ijkÑæ 4 = "FtA": ·j¶: (Ftd 24 ó ) 5 = "FLA": ·d (HSP)6 = "CtA": ·Ì¶: (Ctd 24 ó ) 7 = "SrA": ·júB: 8 = "tSA": ·Óƶ: (ttd 24 ó ) 9 = "bLC": fR¯° (/.23äÐb94 bLC`Pi´Wµ» 42 ó ) 12 = "APL":
4-20 mA 2§9: Dy LFL = nO (48 ó )
£`ÞBÐbM,û¿ FLt (DyijkWÔÕ´ÅÆ 1) @9sû´ÅÆ 1 (24 V)>
5001 2014 / 2
r1
R/WS m" r1Bdc : 10 = "nO": Ðb> 1 = "FLt": ijkÔÕ 2 = "rUn": ijkÑæ 4= "FtA": ·j¶: (Ftd 24 ó ) 5 = "FLA": ·d (HSP)6 = "CtA": ·Ì¶: (Ctd 24 ó ) 7 = "SrA": ·júB: 8 = "tSA": ·Óƶ: (ttd 24 ó ) 12 = "APL":
4-20 mA 2§9: Dy LFL = nO (48 ó )
£`ÞBÐbM,û¿ FLt (DyijkWÔÕ ) @k> 5002 2014 / 3
r2
R/WS m" r2
Bdc : 00 = "nO": Ðb> 1 = "FLt": ijkÔÕ 2 = "rUn": ijkÑæ 4 = "FtA": ·j¶: (Ftd 24 ó ) 5 = "FLA": ·d (HSP)6 = "CtA": ·Ì¶: (Ctd 24 ó ) 7 = "SrA": ·júB: 8 = "tSA": ·Óƶ: (ttd 24 ó ) 9 = "bLC": fR¯° (/.23äÐb94 bLC `Pi´Wµ» 42 ó ) 12 = "APL":
4-20 mA 2§9: Dy LFL = nO (48 ó )
£`ÞBÐbM,û¿ FLt (DyijkWÔÕ ) @k>
3-30
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
3006 2000 / 7
LAC
R/WS PCST½Bdc : 00 = "L1": ÄÅa5> xø8ìäO4y ATV28 äO> 1 = "L2": a5 :
- dÓ +/- (RÏU ) - fRkef - ÝOFðÌ: - ÓÝO - Ï'lp
2 = L3: a5yüêeftE8lp>
Dyg L3 Ðbú LACSb Fr1 (`F ) Cd1 (31 ó ), CHCF (31 ó )y tCC (28 ó ) ´Bdc> ATV31 ppp A \ø$f´ 2C> L3 95´ L2 P L1Bdc FCS4 L2 L1 (28 ó )>
8413 2036 / E
Fr1
R/WS :;kE 1Bdc : 1 ATV31 pppp A ´ 16 @ 1 = "AI1": t¬s AI12 = "AI2": t¬s AI23 = "AI3": t¬s AI316 = "AIP": ÏU (9 ATV31 ppp A)
Dy LAC = L2 P L345!`aµ@å: :
160 = "UPdt": (1) LI d /d 161 = "UpdH": (1) ATV31 P ATV31 ppp A Ò\8 ÒPé8Íd /d>ÑæM67j rFr (16 ó )
Dy LAC = L345!`aµ@å: :
163 = "LCC": é678ÍúB 14 LFr > 164 = "Mdb": Modbus núB 167 = "CAn": CANopen núB (1) : 5ÉMg UPdt P UPdH Ðbú Fr1 P Fr2> UPdt y UPdH k!·ðÆǶðúB:\å:>
8414 2036 / F
Fr2
R/WS :;kE 2
Bdc : 00 = "nO": Not assigned1 = "AI1": t¬s AI12 = "AI2": t¬s AI23 = "AI3": t¬s AI316 = "AIP": ÏU (9 ATV31 ppp A )
Dy LAC = L2 P L345!`aµ@å: :
160 = "UPdt": (1) LI d /d 161 = "UpdH": (1) ATV31 P ATV31 ppp A Ò\8 ÒPé8Íd /d>ÑæM67j rFr (» 16 ó )
Dy LAC = L345!`aµ@å: :
163 = "LCC": é8ÍúB 14 LFr > 164 = "Mdb": Modbus núB 167 = "CAn": CANopen núB (1) : 5ÉMg UPdt P UPdH Ðbú Fr1 P Fr2> UPdt y UPdH k!·ðÆǶðúB:\å:>
r
r
r
r
3-31
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
8411 2036 / C
rFC
R/WS kEµ¿Bdc : 96 rFC 4/ÜÞß: Fr1 P Fr2Pø´ Fr1 y Fr2 8éÝObc9sPefÏ> 96 = "Fr1": úB: = úB: 1 97 = "Fr2": úB: = úB: 2 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
Dy LAC = L345!`aµ@å: :
187 = "C111":
CMD ef> (14 ó ) 8 11 Ï Modbus 188 = "C112":
CMD ef> (14 ó ) 8 12 Ï Modbus
189 = "C113":
CMD ef> (14 ó ) 8 13 Ï Modbus 190 = "C114":
CMD ef> (14 ó ) 8 14 Ï Modbus
191 = "C115":
CMD ef> (14 ó ) 8 15 Ï Modbus 203 = "C211":
CMD ef> (14 ó ) 8 11 Ï CANopen
205 = "C213":
CMD ef> (14 ó ) 8 13 Ï CANopen 206 = "C214":
CMD ef> (14 ó ) 8 14 Ï CANopen
207 = "C215":
CMD ef> (14 ó ) 8 15 Ï CANopen
4ijkÑæ!©ÝOúB>£9sPef>Ï 0 M Fr1 `>£9sPef>Ï 1 M Fr2 `>
:0ObvÓ0uQi>
8401 2036 / 2
CHCF
R/WS st<= (ef:yúB:|Ы )Bdc : 1Dy LAC = L3 M 1 = "SIM": #ê 2 = "SEP": Ы
8423 2036 / 18
Cd1
R/WS :; [x 1Bdc : 1 ATV31 ppp A: ´ 2 @Dy CHCF = SEP y LAC = L3 M` 1 = "tEr": nef 2 = "LOC": Òef (9 ATV31 ppp A ) 3 = "LCC": é678Íef 10 = "Mdb": Modbus nef 20 = "CAn": CAN nef
8424 2036 / 19
Cd2
R/WS :; [x 2Bdc : 10Dy CHCF = SEP y LAC = L3 M` 1 = "tEr": nef 2 = "LOC": Òef (9 ATV31 ppp A ) 3 = "LCC": é678Íef 10 = "Mdb": Modbus nef 20 = "CAn": CAN nef
3-32
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
8421 2036 / 16
CCS
R/WS [xµ¿Bdc : 98Dy CHCF = SEP y LAC = L3 M` CCS 4/ÜÞß: Cd1 P Cd2Pøbc9sPødc Cd1 y Cd2 éÝO8efÏ> 98 = "Cd1": ef: = : 1 99 = "Cd2": ef: = : 2 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6187 = "C111":
CMD ef> (14 ó ) 8 11 Ï Modbus
188 = "C112":
CMD ef> (14 ó ) 8 12 Ï Modbus 189 = "C113":
CMD ef> (14 ó ) 8 13 Ï Modbus
190 = "C114":
CMD ef> (14 ó ) 8 14 Ï Modbus 191 = "C115":
CMD ef> (14 ó ) 8 15 Ï Modbus
203 = "C211":
CMD ef> (14 ó ) 8 11 Ï CANopen 204 = "C212":
CMD ef> (14 ó ) 8 11 Ï CANopen
205 = "C213":
CMD ef> (14 ó ) 8 11 Ï CANopen 206 = "C214":
CMD ef> (14 ó ) 8 11 Ï CANopen
207 = "C215":
CMD ef> (14 ó ) 8 11 Ï CANopen
£9sPef>Ï 0 M: 1 `>£9sPef>Ï 1 M: 2 `>
ÝO:45vÓó0DuQi>
8402 2036 / 3
COP
R/WS .[x 1 x 2Bdc : 0Dy LAC = L3 M`>f9?: 1 u 2 :åæ> 0 = "nO": f 1 = "SP": fúB 2 = "Cd": fef 3 = "ALL": fefyúB
D :• Dyn (2 nP 3 nef ) ef: 2S/f: 1 ef> • Dy: 2 úBìt¬s (AI1, AI2, AI3 P AIP) dc: 1 úBS/f>
Gf8úB: :• Dy: 2 +/- dÓ¦_f/.Ó8sûj (rFr)> • ` (zcEÒé678ÍPn ) f¨©»8úB: (FrH)>
V : Dy: 2 ì·ðn_·nW·ðØ8efPúB:_äfCCæë>
64003 2262 / 4
LCC
R/WS ¾FGE2 [
Bdc : 09£ /é678ÍÞ LAC = L1 P L2 M`> 0 = "nO": a5` 1 = "YES": ÆÇ /678Í\8 STOP/RESET, RUN y FWD/REV <efijk> D 14 ó LFr úûdÓúB:>n\k!¡gkdgyµÌg@A`>Dyijk /8Íí'PøDy !8ÍijkÖB SLF ÔÕ>
64002 2262 / 3
PSt
R/WS ?|yzUBdc : 1äa5 Ò\8 STOP Ò (9 ATV31 ppp A ) Pé678Í\8 STOP Ò¡!®nÝlef: (nP2n )> 0 = "nO": a5` 1 = "YES":
STOP Ò®
3-33
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
64001 2262 / 2
rOt
R/WS ¿À)à7»Bdc : 0Ò\8 RUN Ò (9 ATV31 ppp A) Pé678Í\8 RUNÒÆÇ8BCDu : 0 = "dFr": wu 1 = "drS": u 2 = "bOt": wuvÆÇ ( ATV31 ppp A \8Ò : kÆÇwu )>
9004 203C / 5
rPt
R/WS %BCd&d¨©8TÅ>Bdc : 00 = "LIn": nZ 1 = "S": S T¨© 2 = "U": U T¨© 3 = "CUS": Bf
9005 203C / 6
tA1
R/W
CUS -
%j)I
Ï : 1% (M©z8¨©M© ACC P AC2 8ÌÐ¥ )>Bdc : 102ÂÚ : 0 100
9006 203C / 7
tA2
R/W
CUS -
%j)ûÁ
Ï : 1% (M©z8¨©M© ACC P AC2 8ÌÐ¥ )>Bdc : 102ÂÚ : 0 100- tA1
9007 203C / 8
tA3
R/W
CUS -
%j)I
Ï : 1% (M©z8¨©M© dEC P dE2 8ÌÐ¥ )>Bdc : 102ÂÚ : 0 100
9008 203C / 9
tA4
R/W
CUS - %j)ûÁÏ : 1% (M©z8¨©M© dEC P dE2 8ÌÐ¥ )>Bdc : 102ÂÚ : 0 100 -tA3
9001 203C / 2
ACC
R/W j¼Z
Ï : 0.1 sBdc : 302ÂÚ : 1 9999BCdM© 0 µBj FrS (25 ó ) )©>
9002 203C / 3
dEC
R/W j¼ZÏ : 0.1 sBdc : 302ÂÚ : 1 9999BCdM©µBj FrS (25 ó ) 0 )©>Q+Þº dEC 8:yøgh8Úf|¥ì3>
9010 203C / B
rPS
R/WS µ¿Bdc : 0 ef:äa5·µ!µ> 0 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
Dy LAC = L345!`aå: :
171 = "Cd11":
CMD ef> (14 ó ) 8 11 Ï Modbus P CANopen 172 = "Cd12":
CMD ef> (14 ó ) 8 12 Ï Modbus P CANopen
173 = "Cd13":
CMD ef> (14 ó ) 8 13 Ï Modbus P CANopen 174 = "Cd14":
CMD ef> (14 ó ) 8 14 Ï Modbus P CANopen
175 = "Cd15":
CMD ef> (14 ó ) 8 15 Ï Modbus P CANopen
£9sPef>Ï 0 MÆÇ ACC y dEC>£9sPef>Ï 1 MÆÇ AC2 y dE2>
3-34
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
9011 203C / C
Frt
R/WS µ¿DÏ : 0.1 HzBdc : 02ÂÚ : 1 5000Dy Frt 8:O. 0,sûj. FrtÝO 2 𨩠(0 a5:µ )>¶:¨©ÝO4 LI PFåfÏÝOåæD`#ê :
9012 203C / D
AC2
R/W z 2 Rj¼ZÏ : 0.1 sBdc : 502ÂÚ : 1 99999s (rPS) Pj¶: (Frt) ÆÇ />
9013 203C / E
dE2
R/W z 2 Rj¼ZÏ : 0.1 sBdc : 502ÂÚ : 1 99999s (rPS) Pj¶: (Frt) ÆÇ />
9003 203C / 4
brA
R/WS j'f
Bdc : 1Dy-.ÚfÁZdc8:3Sb¡R`äa5_*1d¨©> 0 = "nO": a5`> 1 = "YES": a5`>äa5y1/øùÂÃ
- ¨©\BÏ - fR8 / (5a5wÞ )DyfRkef (bLC) å: brA S$f´ nO (42 ó ).
11201 2052 / 2
Stt
R/WS Âd?|<=
Bdc : 0Ñæ@A):Pg@Aû¿M8gtE> 0 = "rMP": ©g 1 = "FSt": kdg 2 = "nSt": ¡g 3 = "dCI": µÌg
11204 2052 / 5
FSt
R/WS S,Z7j?|Bdc : 00 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
Dy LAC = L345!`aå: :
171 = "Cd11":
CMD ef> (14 ó ) 8 11 Ï Modbus P CANopen 172 = "Cd12":
CMD ef> (14 ó ) 8 12 Ï Modbus P CANopen
173 = "Cd13":
CMD ef> (14 ó ) 8 13 Ï Modbus P CANopen 174 = "Cd14":
CMD ef> (14 ó ) 8 14 Ï Modbus P CANopen
175 = "Cd15":
CMD ef> (14 ó ) 8 15 Ï Modbus P CANopen
£s89ÅÆi´ 0 ,ef>Ïi 1 M`ga5>kdgì dCF d¨©\g>DysXç´ÅÆ 1 ,Ñæ@ApD!µD/ 2 nef (tCC = 2C y tCt = LEL P PFO » 28 ó ) _Ó95xسR>`®¯úûØ8Ñæ@A>
LI PFåfÏ j ¨© 0011
<Frt>Frt<Frt>Frt
ACC, dECAC2, dE2AC2, dE2AC2, dE2
3-35
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
11230 2052 / 1F
dCF
R/WS j?|¼Ã*j¼Z)AÏ : 1 Bdc : 42ÂÚ : 0 10Þd¨©yøgh8Úf|¥b3> 0 -1.¬¨©>
11203 2052 / 4
dCI
R/WS S,Z7ÄV,Bdc : 00 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
Dy LAC = L345!`aå: :
171 = "Cd11":
CMD ef> (14 ó ) 8 11 Ï Modbus P CANopen 172 = "Cd12":
CMD ef> (14 ó ) 8 12 Ï Modbus P CANopen
173 = "Cd13":
CMD ef> (14 ó ) 8 13 Ï Modbus P CANopen 174 = "Cd14":
CMD ef> (14 ó ) 8 14 Ï Modbus P CANopen
175 = "Cd15":
CMD ef> (14 ó ) 8 15 Ï Modbus P CANopen
£s89ÅÆPef>Ï´ 1 MfR`> 11210 2052 / B
IdC
R/W S,)¤?|<=±E)ÄV,[ :
Åã : ßðdcy¡R]hµÌa5W>Ï : 0.1 ABdc : 0.7 In (1)2ÂÚ : 0 In (1)Dy Ith dc8:í_ 5 dÌ 0.5Ith *·è:> (1)-1.zÀÁ¼78yijkº»\8µBÌ>
11211 2052 / C
tdC
R/W Âd?|<=±E))ÄV,[Åã : ßðdcy¡R]hµÌa5W>Ï : 0.1 sBdc : 52ÂÚ : 1 300
11202 2052 / 3
nSt
R/WS S,Z7(*?|
Bdc : 00 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
£s89ÅÆ 0 M`ga5>DysXç´ÅÆ 1 ,Ñæ@ApD!µD/ 2 nef_Ó95xسR>`®¯úûØ8Ñæ@A>
10401 204A / 2
AdC
R/W (ÆÄV,
(¨©Í )Bdc : 10 = "nO": 1 = "YES": !428]h 2 = "Ct": ¨]h
Ñæ@A !ÖûäU41³Ì>
3-36
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
10402 204A / 3
tdC1
R/W (ÆÄV,¼ZÏ : 0.1 sBdc : 502ÂÚ : 1 300
10403 204A / 4
SdC1
R/W (ÆÄV,aÏ : 0.1 ABdc : 0.7 In (1)2ÂÚ : 0 1.2 In (1)
Q+ÞºÓ5ý;cäÌÝb> (1) -1.zÀÁ¼78yijkº»\8µBÌ>
10404 204A / 5
tdC2
R/W z 2 R(ÆÄV,¼Z
Ï : 0.1 sBdc : 02ÂÚ : 0 300
10405 204A / 6
SdC2
R/W z 2 R(ÆÄV,a
Ï : 0.1 ABdc : 0.5 In (1)2ÂÚ : 0 1.2 In (1)
Q+ÞºÓ5ý;cäÌÝb> (1) -1.zÀÁ¼78yijkº»\8µBÌ>
11801 2058 / 2
SA2
R/WS S, 2Bdc : 24/.-·ðPïðsù&_úB Fr1 0 = "nO": Ðb 1 = "AI1": t¬s AI12 = "AI2": t¬s AI23 = "AI3": t¬s AI316 = "AIP": ÏU (9 A ¦ijk )
Dy LAC = L345!`aå: :
163 = "LCC": é678ÍúB 14 SEt- 58 LFr > 164 = "Mdb": Modbu núB 167 = "CAn": CANopen núB
11802 2058 / 3
SA3
R/WS S, 3Bdc : 04/.-·ðPïðsù&_úB Fr1 0 = "nO": Ðb 1 = "AI1": t¬s AI12 = "AI2": t¬s AI23 = "AI3": t¬s AI316 = "AIP": ÏU (9 A ¦ijk )
Dy LAC = L345!`aå: :
163 = "LCC": é678ÍúB 14 ó SEt- 58 LFr > 164 = "Mdb": Modbu núB 167 = "CAn": CANopen núB
3-37
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
11401 2054 / 2
PS2
R/WS
2
>;j!Bdc : Dy tCC = 1: 0 Dy tCC = 0 P tCC =2: 131Þßå:89s`äa5> 0 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
Dy LAC = L345!`aå: :
171 = "Cd11":
CMD ef> (14 ó ) 8 11 Ï Modbus P CANopen 172 = "Cd12":
CMD ef> (14 ó ) 8 12 Ï Modbus P CANopen
173 = "Cd13":
CMD ef> (14 ó ) 8 13 Ï Modbus P CANopen 174 = "Cd14":
CMD ef> (14 ó ) 8 14 Ï Modbus P CANopen
175 = "Cd15":
CMD ef> (14 ó ) 8 15 Ï Modbus P CANopen 11402 2054 / 3
PS4
R/WS
4
>;j!Bdc : Dy tCC = 1: 0 Dy tCC = 0 P tCC =2: 132Þßå:89s`äa5>Q+Þºú PS4 å:)»ú PS2 å:>
0 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
Dy LAC = L345!`aå: :
171 = "Cd11":
CMD ef> (14 ó ) 8 11 Ï Modbus P CANopen 172 = "Cd12":
CMD ef> (14 ó ) 8 12 Ï Modbus P CANopen
173 = "Cd13":
CMD ef> (14 ó ) 8 13 Ï Modbus P CANopen 174 = "Cd14":
CMD ef> (14 ó ) 8 14 Ï Modbus P CANopen
175 = "Cd15":
CMD ef> (14 ó ) 8 15 Ï Modbus P CANopen 11403 2054 / 4
PS8
R/WS
8
>;j!Bdc : 0Þßå:89s`äa5>Q+Þºú PS8 å:)»ú PS4 å:>
0 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
Dy LAC = L345!`aå: :
171 = "Cd11":
CMD ef> (14 ó ) 8 11 Ï Modbus P CANopen 172 = "Cd12":
CMD ef> (14 ó ) 8 12 Ï Modbus P CANopen
173 = "Cd13":
CMD ef> (14 ó ) 8 13 Ï Modbus P CANopen 174 = "Cd14":
CMD ef> (14 ó ) 8 14 Ï Modbus P CANopen
175 = "Cd15":
CMD ef> (14 ó ) 8 15 Ï Modbus P CANopen
3-38
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
11404 2054 / 5
PS16
R/WS
16
X>;j!Bdc : 0Þßå:89s`äa5>Q+Þºú PS16 å:)»ú PS8 å:>
0 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
Dy LAC = L345!`aå: :
171 = "Cd11": 9s (14 ó ) 8 11 Ï Modbus P CANopen 172 = "Cd12": 9s (14 ó ) 8 12 Ï Modbus P CANopen 173 = "Cd13": 9s (14 ó ) 8 13 Ï Modbus P CANopen 174 = "Cd14": 9s (14 ó ) 8 14 Ï Modbus P CANopen 175 = "Cd15": 9s (14 ó ) 8 15 Ï Modbus P CANopen
11410 2054 / B
SP2
R/W z 2 R>;j!Ï : 0.1 HzBdc : 1002ÂÚ : 0 to 5000
11411 2054 / C
SP3
R/W z 3 R>;j!Ï : 0.1 HzBdc : 1502ÂÚ : 0 5000
11412 2054 / D
SP4
R/W z 4 R>;j!Ï : 0.1 HzBdc : 2002ÂÚ : 0 5000
11413 2054 / E
SP5
R/W z 5 R>;j!Ï : 0.1 HzBdc : 2502ÂÚ : 0 5000
11414 2054 / F
SP6
R/W z 6 R>;j!Ï : 0.1 HzBdc : 3002ÂÚ : 0 5000
11415 2054 / 10
SP7
R/W z 7 R>;j!Ï : 0.1 HzBdc : 3502ÂÚ : 0 5000
11416 2054 / 11
SP8
R/W z 8 R>;j!Ï : 0.1 HzBdc : 4002ÂÚ : 0 5000
11417 2054 / 12
SP9
R/W z 9 R>;j!Ï : 0.1 HzBdc : 4502ÂÚ : 0 5000
11418 2054 / 13
SP10
R/W z 10 R>;j!Ï : 0.1 HzBdc : 5002ÂÚ : 0 5000
11419 2054 / 14
SP11
R/W z 11 R>;j!Ï : 0.1 HzBdc : 5502ÂÚ : 0 5000
3-39
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
11420 2054 / 15
SP12
R/W z 12 R>;j!Ï : 0.1 HzBdc : 6002ÂÚ : 0 5000
11421 2054 / 16
SP13
R/W z 13 R>;j!Ï : 0.1 HzBdc : 7002ÂÚ : 0 5000
11422 2054 / 17
SP14
R/W z 14 R>;j!Ï : 0.1 HzBdc : 8002ÂÚ : 0 5000
11423 2054 / 18
SP15
R/W z 15 R>;j!Ï : 0.1 HzBdc : 9002ÂÚ : 0 5000
11424 2054 / 19
SP16
R/W z 16 R>;j!Ï : 0.1 HzBdc : 10002ÂÚ : 0 5000
11110 2051 / B
JOG
R/WS ǹºBdc : Dy tCC = 0 P 2: 0 Dy tCC =1: 132Þßå:89s`äa5> 0 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
11111 2051 / C
JGF
R/W ǹºkEDÏ : 0.1 HzBdc : 1002ÂÚ : 0 100
11501 2055 / 2
USP
R/WS j! + (/i )Bdc : 0Dy LAC = L2 P L3 , UPdt ÞBM4`äa5 (» 30 ó )>Þßå:89s`äa5> 0 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
11502 2055 / 3
dSP
R/WS j! - (/i )
Bdc : 0Dy LAC = L2 P L3 , UPdt ÞBM4`äa5 (» 30 ó )>Þßå:89s`äa5> 0 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
3-40
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
11503 2055 / 4
Str
R/WS #kEDBdc : 0ydÓ +/-a5!ä4/.úB: :
- £Ñæ@A@RM ( RAM) - £à):PÑæ@A@RM ( EEPROM)`·p³RMdÓúB:´\p8úB:> 0 = "nO": 1 = "rAM": RAM2 = "EEP": EEPROM
11901 2059 / 2
PIF
R/WS
PI
!"ÈBdc : 00 = "nO": Ðb 1 = "AI1": t¬s AI12 = "AI2": t¬s AI23 = "AI3": t¬s AI3
11941 2059 / 2A
rPG
R/W
PI !"Juª«Ï : 0.01 Bdc : 1002ÂÚ : 1 10000!O.Ð PI êkdiË!©8RÆZ5
11942 2059 / 2B
rIG
R/W
PI
!"É*ª«Ï : 0.01 Bdc : 1002ÂÚ : 1 10000!O.Ð PI êëìiËM8]ÆÅÞÓ
11903 2059 / 4
FbS
R/W
PI ÈÊG:;AÏ : 0.1 Bdc : 102ÂÚ : 1 1000/.*1
11940 2059 / 29
PIC
R/W
PI
!"˻Bdc : 00 = "nO": wu 1 = "YES": u
11909 2059 / A
Pr2
R/WS
2
R PI >;kEDBdc : 0Þßå:89s`äa5 0 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
Dy LAC = L345!`aå: :
171 = "Cd11":
CMD ef> (14 ó ) 8 11 Ï Modbus P CANopen 172 = "Cd12":
CMD ef> (14 ó ) 8 12 Ï Modbus P CANopen
173 = "Cd13":
CMD ef> (14 ó ) 8 13 Ï Modbus P CANopen 174 = "Cd14":
CMD ef> (14 ó ) 8 14 Ï Modbus P CANopen
175 = "Cd15":
CMD ef> (14 ó ) 8 15 Ï Modbus P CANopen
3-41
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
11910 2059 / B
Pr4
R/WS
4
R PI >;kEDBdc : 0Þßå:89s`äa5>Q+Þºú Pr4 å:)»ú Pr2 å:>
0 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
Dy LAC = L345!`aå: :
171 = "Cd11":
CMD ef> (14 ó ) 8 11 Ï Modbus P CANopen 172 = "Cd12":
CMD ef> (14 ó ) 8 12 Ï Modbus P CANopen
173 = "Cd13":
CMD ef> (14 ó ) 8 13 Ï Modbus P CANopen 174 = "Cd14":
CMD ef> (14 ó ) 8 14 Ï Modbus P CANopen
175 = "Cd15":
CMD ef> (14 ó ) 8 15 Ï Modbus P CANopen 11921 2059 / 16
rP2
R/W z 2 R PI >;kED
Ï : 0.1%Bdc : 3002ÂÚ : 0 1000DyÞB·ðs Pr2 4/Mä`>
11922 2059 / 17
rP3
R/W z 3 R PI >;kED
Ï : 0.1%Bdc : 6002ÂÚ : 0 1000DyÞB·ðs Pr4 4/Mä`>
11923 2059 / 18
rP4
R/W z 4 R PI >;kEDÏ : 0.1%Bdc : 9002ÂÚ : 0 1000DyÞB·ðs Pr4 4/Mä`>
11960 2059 / 3D
rSL
RW0 GIhD (ÞÌÍßD )
Ï : 0.1 Bdc : 02ÂÚ : 0 1000DyÉMdc PIydBCM© (tLS) (24 ó ) a5 PI 2?kbããdc·ð¥ LSP '8dÓ>ßbvd³RÑæ_gOAíö> rSL (xسR(^¶: ) 4/.dc·ð¬ PI (^¶:_/.Ò!dg8xسR>Dy tLS = 0äa5 !`>
11908 2059 / 9
PII
R/WS PÎ PI !"kEDBdc : 00 = "nO":
PI 2?kúB:ì Fr1 UpdH y UPdt (dÓ +/- 5/C PI 2?kúB: )>
1 = "YES":
PI 2?kúB:ì rPI zúB> 11920 2059 / 15
rPI
R/W PÎ PI !"kED
Ï : 0.1%Bdc : 02ÂÚ : 0 1000
3-42
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
10001 2046 / 2
bLC
R/WS [" [:;Bdc : 0äa59 LAC = L2 P L3 (30 ó ) M5`> 0 = "nO": Ðb 2 = "r2": k R2 64 = "dO": 9sû AOCDy bLC å: FLr (46 ó ) y brA (34 ó ) $f´ nO, OPL (47 ó ) $f´ YES>Dy OPL = OAC (46 ó ) _ bLC $f´ nO>
10002 2046 / 3
brL
R/WS ÁÌ"ϯÌq
Ï : 0.1 HzBdc : ¹EijkµB:2ÂÚ : 0 100
10006 2046 / 7
Ibr
R/WS ["ϯ¼)4D
Ï : 0.1 ABdc : ¹EijkµB:2ÂÚ : 0 1.36 In (1)(1) -1.zÀÁ¼78&ijkº»\8ijkµBÌ>
10004 2046 / 5
brt
R/WS ["ϯ¼ZÏ : 0.01 sBdc : 502ÂÚ : 0 500
10003 2046 / 4
bEn
R/WS ["ÐÑÌqDÏ : 0.1 HzBdc : 655352ÂÚ : 0 LSP 65535 = "nO": dc 0 to LSP: 2?Ú HzDy bLC BC, bEn pO. nO_ijkb·ðÑæ@AMÖB. bLF ÔÕ>
10005 2046 / 6
bEt
R/WS ["ÐѼZ
Ï : 0.01 sBdc : 502ÂÚ : 0 500
10007 2046 / 8
bIP
R/WS ["ϯ"Ò
Bdc : 00 = "nO": £fRk MÓ0úDu-1.øù8ó0Du> 1 = "YES": £fRk MÓ0úDu´wuÝløù8ó0Du>
Q+Þº/.wuef8Ó0úDuyÚfu\Du|-1> D!®ø4 Óï|Ï|>
3-43
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
9202 203E / 3
LC2
R/WS µ¿z 2 RVDBdc : 09 LAC = L2 P L3 (30 ó ) M5`äa5>Þßå:89s`äa5> 0 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
Dy LAC = L345!`aå: :
171 = "Cd11":
CMD ef> (14 ó ) 8 11 Ï Modbus P CANopen 172 = "Cd12":
CMD ef> (14 ó ) 8 12 Ï Modbus P CANopen
173 = "Cd13":
CMD ef> (14 ó ) 8 13 Ï Modbus P CANopen 174 = "Cd14":
CMD ef> (14 ó ) 8 14 Ï Modbus P CANopen
175 = "Cd15":
CMD ef> (14 ó ) 8 15 Ï Modbus P CANopen £9sPef>Ï 0 MÆÇ / CL1 (24 ó )>£9sPef>Ï 1 MÆÇ / CL2 (43 ó )>
9203 203E / 4
CL2
R/W z 2 RVD
Ï : 0.1 ABdc : 1.5 In (1)2ÂÚ : 0.25 1.5 In (1)(1)-1.zÀÁ¼78yijkº»\8µBÌ>
8011 2032 / C
CHP
R/WS µ¿4 2Bdc : 09 LAC = L2 P L3 (30 ó ) M5`äa5> 0 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
Dy LAC = L345!`aå: :
171 = "Cd11":
CMD ef> (14 ó ) 8 11 Ï Modbus P CANopen 172 = "Cd12":
CMD ef> (14 ó ) 8 12 Ï Modbus P CANopen
173 = "Cd13":
CMD ef> (14 ó ) 8 13 Ï Modbus P CANopen 174 = "Cd14":
CMD ef> (14 ó ) 8 14 Ï Modbus P CANopen
175 = "Cd15":
CMD ef> (14 ó ) 8 15 Ï Modbus P CANopen
LI PFåfÏ = 0: Ó 1LI PFåfÏ = 1: Ó 2
- ÓÝOa5 Óa5:µä®¯Ð(@Ód¸> - Dy /äa5S5 /Ó 2 8 tUn ¡R2?a5 (26 ó )5bc tUn = rUn P Pon> - £ijkÖBM Qi>
9701 2043 / 2
UnS2
R/WS °±kT)4E (4 2)Ï : 1 VBdc : ijkµB:VB2ÂÚ : ijkµB:VB ATV31
ppp
M2: 100 240 V
ATV31
ppp
M3X: 100 240 V
ATV31
ppp
N4: 100 500 VATV31
ppp
S6X: 100 600 V
3-44
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
9702 2043 / 3
FrS2
R/WS °±kT)4EÌq (4 2)Ï : 0.1 HzBdc : Dy bFr = 50: 500 Dy bFr = 60: 6002ÂÚ : 100 5000
¥: 5`a: :
ATV31
ppp
M2: ¬´ 7> ATV31
ppp
M3X: ¬ 7>
ATV31
ppp
N4: ¬´ 14>
ATV31
ppp
S6X: ¬´ 17>
9703 2043 / 4
nCr2
R/WS °±kT)4E (4 2)
Ï : 0.1 ABdc : ijkµB:VB2ÂÚ : 0.25 1.5 In (1)(1)-1.zÀÁ¼78yijkº»\8µBÌ>
9704 2043 / 5
nSP2
R/WS °±kT)4Ej! (4 2)Ï : 1 rpmBdc : ijkµB:VB2ÂÚ : 0 32767DyìµBdÓº»bÄûÉ%0d&_ Hz PÌÐ¥780^ |`aE"U«µBdÓ :
µBdÓ = É%0d xPµBdÓ = É%0d x (50 Hz Ó )PµBdÓ = É%0d x (60 Hz Ó )
9706 2043 / 7
COS2
R/WS 4°±×kT)Pq\A (Cos Phi) (4 2)Ï : 0.01 Bdc : ijkµB:VB2ÂÚ : 50 100
9707 2043 / 8
UFt2
R/W 4 2 /ÌqED%)±
Bdc : 20 = "L": ÓB0ú-.+ÓPÈ«Ó> 1 = "P": 4i0ú/.ÔPÕÖ> 2 = "n": -.ÓB0ú1/8Wr×kÁØef> 3 = "nLd": $-.W1RÆZ584i0ú1/ (Z5Ù.WÚfM8 P ¥y!ÚfM8 n ¥ )>
9723 2043 / 18
UFr2
R/W 4 2 IR ¦§ /ð¨Ï : 1%Bdc : 202ÂÚ : 0 100UFt2 = n P nLd: IR ½> UFt2 = L P P: ÍЯ>/.dÓrMË0ú (Dy0ú÷ UFr2)>Q+Þº£ÓiM8 UFr2 8:3 (B8¾¿ )> Q UFt2 b t UFr2 ?XBdc (20%)>
9720 2043 / 15
FLG2
R/W 4 2 Ìq©ª«Ï : 1%Bdc : 202ÂÚ : 1 1009 UFt2 = n P nLd M5`> FLG2 Î.ÀRÓk8ÁZÜ2ÂijkqLdÓ¨©85¨>Â3bvÓkBCB>
UnS (in volts)FrS (in Hz)
100 -_ÌÐ¥780^ 100
50 - _ Hz780^ 50
60 - _ Hz780^ 60
3-45
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
9721 2043 / 16
StA2
R/W 4 2 Ìq©KEÏ : 1%Bdc : 202ÂÚ : 1 1009 UFt2 = n P nLd M5`>/.dÓ¥i (dPd ) ?XƹEÓk8R¨´ÈZ>ÃBZ_vwd>
9725 2043 / 1A
SLP2
R/W 4 2 ;¦§
Ï : 1%Bdc : 1002ÂÚ : 0 1509 UFt2 = n P nLd M5`>/.2ÂÓµBdÓìB80^½:>Óº»\úû8dÓ:®ÄÅÞ>DydB0^ < 0^ : ÓÆM_wÞdÓ0R>DydB0^ > 0^ : Ó½dÓB>
11601 2056 / 2
LAF
R/WS VDÂ
Bdc : 09 LAC = L2 P L3 (30 ó ) M5`äa5> 0 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
11602 2056 / 3
LAr
R/WS VD
Bdc : 09 LAC = L2 P L3 (30 ó ) M5`äa5> 0 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
11603 2056 / 4
LAS
R/WS VDµ¿?|%
Bdc : 29 LAC = L2 P L3 (30 ó ) M5`äa5> 0 = "rMP": ©g 1 = "FSt": kdg 2 = "nSt": ¡g
3-46
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
7122 2029 / 17
Atr
R/WS |IBdc : 00 = "nO": a5`> 1 = "YES": û¿ÔÕÖBDyÔÕñ ,ÑæÆÇxسR4_xسR>·ia8îãÜxسR©M©Ã : 1 d 5 d 10 d 1 Ðï>DybcM© tAr @RM' !xسR_xسR°ijkmÖBµíV>`aÔÕÆÇ /äa5 :
- @ÔÕ (EPF)-
4-20 mA úB:9: (LFF)
-
CANopen nÔÕ (COF)- ijÍ (OSF)- nÌ|| (PHF)- Ó|| (OPF)- µÌnÍ (ObF)- Óf (OLF)- æ (SLF)- ijk (OHF)Dyäa5!µijkzVkm`>dÓúB:yBCDu®¯mi> / 2 nef (tCC = 2C), tCt = LEL P PFO (28 ó )>
QÞº¡Rx³Rb-íð&d¸67"#¾¿>
7123 2029 / 18
tAr
R/WS GI)`a÷Ó¼ZBdc : 00 = "5" : 5 Ðï 1 = "10" : 10 Ðï 2 = "30" : 30 Ðï 3 = "1h": 1 M 4 = "2h": 2 M 5 = "3h": 3 M 6 = "Ct": WfDy Atr = YESäû¿>äa5/.fû¿ÔÕM¨xسR8p>
7124 2029 / 19
rSF
R/WS iÅ./
Bdc : 00 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
3110 2001 / B
FLr
R/WS |I ((×ÔÕÖ;3× )Bdc : 0û¿iaDyÑæ@Am!µ4/.ÙxسR :
- à|:PíÌ - £»ÔÕÏP¡RxسR - ¡gijkúû8dÓ?xسRM8ÓñUdÓ'¦°¨©i˵úBdÓ>äa51ø 2 nef (tCC = 2C), tCt = LEL P PFO> 0 = "nO": a5` 1 = "YES": a5`£äa54/Mmb_\·8¶·px³RM`v+8ÈM (¬Ò 1 d )>DyfRkef (bLC) å: (42 ó ) FLr S$f nO>
3-47
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
7131 2029 / 20
EtF
R/WS ØÎBdc : 00 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
Dy LAC = L345!`aå: :
171 = "Cd11":
CMD ef> (14 ó ) 8 11 Ï Modbus P CANopen 172 = "Cd12":
CMD ef> (14 ó ) 8 12 Ï Modbus P CANopen
173 = "Cd13":
CMD ef> (14 ó ) 8 13 Ï Modbus P CANopen 174 = "Cd14":
CMD ef> (14 ó ) 8 14 Ï Modbus P CANopen
175 = "Cd15":
CMD ef> (14 ó ) 8 15 Ï Modbus P CANopen 7006 2028 / 7
EPL
R/WS TØÎ EPF ¼)?|<=
Bdc : 10 = "nO": ò%ÔÕ 1 = "YES": û¿ÔÕM¡g 6 = "rMP": û¿ÔÕM¨©g 7 = "FSt": û¿ÔÕMkdg
9611 2042 / C
OPL
R/WS 4Ù):;
Bdc : 10 = "nO": a5` 1 = "YES": tÖ OPF ÔÕ 2 = "OAC": !tÖÔÕp1-sûÍåælp FLr = nO_vwyÓ)©8xØCRÆxسRMû¿Ì>´y`ótk·³ />DyfRkef (bLC) å: (42 ó ) OPL S$f YES>Dy OPL = OAC_ bLC $f´ nO (42 ó )>
7002 2028 / 3
IPL
R/WS 9Ù):;
Bdc : 1 ATV31 ppp M2 0 @ 3 |ijk\5`ä> 0 = "nO": ò%ÔÕ 1 = "YES": û¿ÔÕMkdg
7008 2028 / 9
OHL
R/WS TÁÌ" OHF ¼)?|<=Bdc : 10 = "nO": ò%ÔÕ 1 = "YES": û¿ÔÕM¡g 6 = "rMP": û¿ÔÕM¨©g 7 = "FSt": û¿ÔÕMkdg
7009 2028 / A
OLL
R/WS TÁÌ"3 OLF ¼)?|<=Bdc : 10 = "nO": ò%ÔÕ 1 = "YES": û¿ÔÕM¡g 6 = "rMP": û¿ÔÕM¨©g 7 = "FSt": û¿ÔÕMkdg
7010 2028 / B
SLL
R/WS T Modbus 67 SLF ¼)?|<=Bdc : 10 = "nO": ò%ÔÕ 1 = "YES": û¿ÔÕM¡g 6 = "rMP": û¿ÔÕM¨©g 7 = "FSt": û¿ÔÕMkdg
7011 2028 / C
COL
R/WS T CANopen 67 COF ¼)?|<=Bdc : 10 = "nO": ò%ÔÕ 1 = "YES": û¿ÔÕM¡g 6 = "rMP": û¿ÔÕM¨©g 7 = "FSt": û¿ÔÕMkdg
3-48
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
7012 2028 / D
tnL
R/WS (! tnF ):;Bdc : 10 = "nO": ò%ÔÕ (ijk´Bdc ) 1 = "YES": û¿ÔÕMÖBijk>Dy rSC (26 ó ) ì nO_ tnL $f´ YES>
7003 2028 / 4
LFL
R/WS T 4 - 20 mA ¥¦ LFF¼)?|<=
Bdc : 00 = "nO": ò%ÔÕ (9 CrL3 ô 3 mA M!45´ä: 28 ó ) 1 = "YES": û¿ÔÕM¡g 4 = "LFF": ijkÝOõdÓ (LFF )> 5 ="rLS": ijkmû¿ÔÕM8ÑædÓµÔÕñ > 6 = "rMP": û¿ÔÕM¨©g 7 = "FSt": û¿ÔÕMkdgDy CrH3 < CrL3 (28 ó ) , nO 45ì LFL $f´ YES>
dc LFL Y ES , rMP P FSt )»Qs AI3 8>u_ijk!45Cû¿ LFF ÔÕ>
7080 2028 / 51
LFF
R/WS ÚÛj!Ï : 0.1 HzBdc : 1002ÂÚ : 0 5000û¿ÔÕM´gdcõdÓ>
7007 2028 / 8
drn
R/WS T¼ÜpED¹ºBdc : 00 = "nO": a5` 1 = "YES": nÍgh¶:´ : ATV31
ppp
M2: 130 V
ATV31
ppp
M3X: 130 VATV31
ppp
N4: 270 VATV31
ppp
S6X: 340 Vä`S1ø /nÌöÌ÷ijk8Z5t>
7004 2028 / 5
StP
R/WS #Ý%¼ [?|
Bdc : 00 = "nO": ÖBijkÓ¡g> 1 = "MMS": ägtE /ÁZ_ø45¹ùmijkà> 2 = "rMP": |wÞ¨©g (dEC P dE2) 3 = "FSt": kdggM©VB.ÁZyijk8fR5¨>
7125 2029 / 1A
InH
R/WS
Bdc : 0hÔÕb ijk9úWªp8Ó>ßb [Wµ>
0 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6
sÅÆ 0 M`ÔÕgh>sÅÆ 1 MÔÕgh !`>s8\¯° (? 1 0) G!`ÔÕÏ>
3120 2001 / 15
rPr
R/WS κ¼Z./Ô 0
Bdc : 00 = "nO": u 2 = "rtH": BCM©Ï´ 0skø·åæÏ rPr S¡RiX nO>
3-49
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
6001 201E / 2
Add
R/WS
Modbus: ÁÌ">?Ï : 1 Bdc : 12ÂÚ : 1 247
6001 201E / 2
Add
R/WS
Modbus: ÁÌ">?Ï : 1 Bdc : 12ÂÚ : 1 247
6003 201E / 4
tbr
R/WS
Modbus: gSj!Bdc : 3224 = "4.8" : 4800 bps28 = "9.6" : 9600 bps32 = "19.2": 19200 bps ( : é678Í95 /ä:> )
6004 201E / 5
tFO
R/WS
Modbus: Þ=Bdc : 32 = "8O1":
8 ðEÏfMN 1 ðghÏ
3 = "8E1":
8 ðEÏiMN 1 ðghÏ ( : é678Í95 /ä:> ) 4 = "8n1":
8 ðEÏWfiMN 1 ðghÏ
5 = "8n2":
8 ðEÏWfiMN 2 ðghÏ 6005 201E / 6
ttO
R/WS
Modbus:
ß¼
Ï : 0.1 sBdc : 1002ÂÚ : 1 100
6051 201E / 34
AdCO
R/WS
CANopen: >?Ï : 1 Bdc : 02ÂÚ : 0 127
6053 201E / 36
bdCO
R/WS
CANopen: gSj!Bdc : 5230 = "10.0": 10 kbps34 = "20.0": 20 kbps38 = "50.0": 50 kbps52 = "125.0": 125 kbps60 = "250.0": 250 kbps68 = "500.0": 500 kbps76 = "1000": 1000 kbps
8431 2036 / 20
FLO
R/WS à[4<=Bdc : 00 = "nO": Ðb 129 = "LI1": 9s LI1130 = "LI2": 9s LI2131 = "LI3": 9s LI3132 = "LI4": 9s LI4133 = "LI5": 9s LI5134 = "LI6": 9s LI6$fÓtEny678ÍxØstijkef>
8432 2036 / 21
FLOC
R/WS à[4<=±kEF [x9 LAC = 3 M5`äBdc : 1 ATV31 ppp A 16 @$fÓtE9 dÓúB:> PI a5sù&Oa5 !`> 1 = "AI1": t¬s AI19s LI 2 = "AI2": t¬s AI29s LI 3 = "AI3": t¬s AI39s LI 16 = "AIP": ÏU (9 A ¦ijk ) RUN/STOP < 163 = "LCC": é678Í : 14 ó8 LFr úB: RUN/STOP/FWD/REV <>
3-50
:;x¥Á
Modbus ¹`
CANopen ¹`
GH / /FH /45:
3003 2000 / 4
COd
R/W FGE2áEMN /GH4 ijkbct>
: sGH)»ûüÜZ·ðb>
0 = OFF: WÖBGH - ´ÖBs·ðGH (2 - 9999) >¢ý\û¿ On¼7ÖB>
1 = On: GHwÖB (2 - 9999)- ´ ÖBsGH >GHa67k\µ`p`pí ÖB>`pMVpÖB>
- Dys8GHwÞ COd :i´ OnpmÖB> 2 - 9999: ÖB (GHa¢ý\ )>
- ´/|ÉGHxØ`ÖB£ ÖBM?X On> - ´/ØGHÖB£ ÖBMs·ðØGH> - ´hÖB£ ÖBM?X OFF>£ /GHÖBM9!gh4,679!·ðþMÞß>
3-51
/( ATV31 â¿ ATV28
D!®ø· / Modbus åæ8d¸4_Äù/ ATV31 Ü&O ATV28>\ ATV28 /8Ði ATV31 v¡!|É8¹` (¤xç` )>
• øNO· ATV288 ATV28 ¹`4_ /9.ä>G! ATV28 ¹`®¯&O´ ATV31 8¹`> • -.G!Ø8d¸õ /Ø8¹`´ß¶4_ Modbus ù8>
(1)»Ã ATV28 iÀÁÄ>
ATV 28 ¹`
ع` GH ATV 28 ¹`
ع` GH ATV 28 ¹`
ع` GH
2 3003 COd 266 11412 SP4 462 7201 DP1
4 4434 CrL3 267 11413 SP5 464 7202 DP2
5 4444 CrH3 268 11414 SP6 466 7203 DP3
6 11101 tCC 269 11415 SP7 468 7204 DP4
10 6001 Add 270 11210 IdC 478 5240 IOLR
40 3015 bFr 272 11701 tLS 482 5261 AO1R
51 3102 SFr 279 11941 rPG 487 3208 Otr
52 3103 tFr 280 11942 rIG 491 3211 OPr
53 9602 FrS 281 11903 FbS 530 3231 rtH
55 9601 UnS 282 11001 Ctd 555 3017 INV
60 3107 nrd 283 11002 ttd 600 8606 ERRD
61 9607 UFt 284 11003 Ftd 601 8601 CMDD
64 9003 brA 286 11301 JPF 602 8603 ETAD
65 9011 Frt 287 11940 PIC 603 8602 LFRD
110 5002 r2 340 64001 rOt 604 8605 FRHD
151 9611 OPL 400 8501 CMD 605 8604 RFRD
152 7002 IPL 401 8502 LFR 606 8607 SMIL
155 3110 FLr 402 8504 CMI 607 8608 SMIL
190 7007 drn 440 11920 rPI 608 8609 SMAL
250 3104 HSP 450 3203 FrH 609 8610 SMAL
251 3105 LSP 451 3202 rFr 610 8611 SPAL
252 9001 ACC 453 3204 LCr 611 8612 SPAL
253 9002 dEC 454 3207 ULn 612 8613 SPAT
258 9622 ItH 455 9630 tHr 613 8614 SPDL
260 9012 AC2 456 3209 tHd 614 8615 SPDL
261 9013 dE2 457 7121 LFt 615 8616 SPDT
262 11111 JGF 458 3201 ETA 991 64003 LCC
264 11410 SP2 459 3206 ETI
265 11411 SP3 460 - ETI2 (1)
3-52
MN Modbus >? CANopen >? \] ãN AC2
9012 203C / D 2 34
ACC
9001 203C / 2 33 AdC
10401 204A / 2 35
AdCO
6051 201E / 34 CANopen: 49 Add
6001 201E / 2
Modbus: 49
AI1C
5242 2016 / 2B AI1 18 AI2C
5243 2016 / 2C AI2 18
AI3C
5244 2016 / 2D AI3 18 AIPC
5241 2016 / 2A AIP (ATV31...A ) 18
AO1R
5261 2016 / 3E 18 AO1t
4601 2010 / 2 28
Atr
7122 2029 / 17 46 bdCO
6053 201E / 36 CANopen: 49
bEn
10003 2046 / 4 42 bEt
10005 2046 / 6 42
bFr
3015 2000 / 10 25 bIP
10007 2046 / 8 42
bLC
10001 2046 / 2 42 brA
9003 203C / 4 34
brL
10002 2046 / 3 42 brt
10004 2046 / 5 42
CCS
8421 2036 / 16 32 Cd1
8423 2036 / 18 1 31
Cd2
8424 2036 / 19 2 31 CHCF
8401 2036 / 2 ( ) 31
CHP
8011 2032 / C 2 43 CL2
9203 203E / 4 2 43
CLI
9201 203E / 2 24 CMD
8501 2037 / 2 14
CMDD
8601 6040 DRIVECOM 11 CMI
8504 2037 / 5 15
CMI1
8541 2037 / 2A
Modbus 20 CMI2
8542 2037 / 2B
CANopen 21
COd
3003 2000 / 4 50 COL
7011 2028 / C CANopen COF 47
COP
8402 2036 / 3 1 2 32 COS
9606 2042 / 7 (Cos Phi) 26
COS2
9706 2043 / 7 (Cos Phi) ( 2) 44 CrH3
4444 200E / 2D (HSP) AI3 28
CrL3
4434 200E / 23 (LSP) AI3 28 Ctd
11001 2050 / 2 24
dCF
11230 2052 / 1F 35 dCI
11203 2052 / 4 35
dE2
9013 203C / E 2 34 dEC
9002 203C / 3 33
dO
5031 2014 / 20 / AOC/AOV 29 DP1
7201 202A / 2
1 19
DP2
7202 202A / 3
2 19 DP3
7203 202A / 4
3 19
DP4
7204 202A / 5
4 19 drn
7007 2028 / 8 48
dSP
11502 2055 / 3 - ( ) 39 EP1
7211 202A / C 1 20
EP2
7212 202A / D 2 20
MN&'
3-53
EP3
7213 202A / E 3 20 EP4
7214 202A / F 4 20
EPL
7006 2028 / 7 EPF 47 ErCO
6056 201E / 39
CANopen: 20
ERRD
8606 603F 12 ETA
3201 2002 / 2 16
ETAD
8603 6041 DRIVECOM 11 EtF
7131 2029 / 20 47
ETI
3206 2002 / 7 17 FbS
11903 2059 / 4
PI 40
FCS
8002 2032 / 3 / 28 FLG
9620 2042 / 15 23
FLG2
9720 2043 / 15 2 44 FLO
8431 2036 / 20 49
FLOC
8432 2036 / 21 49 FLr
3110 2001 / B ( ) 46
Fr1
8413 2036 / E 1 30 Fr2
8414 2036 / F 2 30
FrH
3203 2002 / 4 ( ) 16 FRHD
8605 6043 ( ) 12
FrS
9602 2042 / 3 25 FrS2
9702 2043 / 3 ( 2) 44
Frt
9011 203C / C 34 FSt
11204 2052 / 5 34
Ftd
11003 2050 / 4 24 HSP
3104 2001 / 5 23
Ibr
10006 2046 / 7 42 IdC
11210 2052 / B : 35
InH
7125 2029 / 1A 48 INV
3017 2000 / 12 22
IOLR
5240 2016 / 29 I/O 18 IPL
7002 2028 / 3 47
ItH
9622 2042 / 17 - 23 JF2
11302 2053 / 3 2 24
JGF
11111 2051 / C 39 JOG
11110 2051 / B 39
JPF
11301 2053 / 2 23 LAC
3006 2000 / 7 30
LAF
11601 2056 / 2 45 LAr
11602 2056 / 3 45
LAS
11603 2056 / 4 45 LC2
9202 203E / 3 2 43
LCC
64003 2262 / 4 32 LCr
3204 2002 / 8 16
LFD1
8631 2038 / 20
Modbus 21 LFD2
8632 2038 / 21
CANopen 21
LFF
7080 2028 / 51 48 LFL
7003 2028 / 4 4 - 20 mA LFF 48
LFr
8502 2037 / 3 ( ) 14 LFR1
8521 2037 / 16
Modbus 21
LFR2
8522 2037 / 17
CANopen 21 LFRD
8602 6042 ( ) 11
LFt
7121 2029 / 16 19 LRS1
3250 2002 / 33 1 17
LRS3
3252 2002 / 35 3 18
MN Modbus >? CANopen >? \] ãN
Code index
3-54
LSP
3105 2001 / 6 23
nCr
9603 2042 / 4 25 nCr2
9703 2043 / 4 ( 2) 44
NCV
3011 2000 / C 22 nrd
3107 2001 / 8 27
nSP
9604 2042 / 5 26 nSP2
9704 2043 / 5 ( 2) 44
nSt
11202 2052 / 3 35 OHL
7008 2028 / 9 OHF 47
OLL
7009 2028 / A OLF 47 OPL
9611 2042 / C 47
OPr
3211 2002 / C 16 Otr
3205 2002 / 6 16
PIC
11940 2059 / 29
PI 40
PIF
11901 2059 / 2
PI 40 PII
11908 2059 / 9 PI 41
PIR1
8531 2037 / 20
Modbus PI 21 PIR2
8532 2037 / 21
CANopen PI 21
PISP
8503 2037 / 4 PI 14 Pr2
11909 2059 / A
2 PI 40
Pr4
11910 2059 / B
4 PI 41 PS16
11404 2054 / 5
16 38
PS2
11401 2054 / 2
2 37 PS4
11402 2054 / 3
4 37
PS8
11403 2054 / 4
8 37 PSt
64002 2262 / 3 32
r1
5001 2014 / 2 r1 29 r2
5002 2014 / 3 r2 29
rFC
8411 2036 / C 31 rFr
3202 2002 / 3 ( ) 16
RFRD
8604 6044 ( ) 12 rIG
11942 2059 / 2B
PI 40
rOt
64001 2262 / 2 33 rP2
11921 2059 / 16 2 PI 41
rP3
11922 2059 / 17 3 PI 41 rP4
11923 2059 / 18 4 PI 41
rPG
11941 2059 / 2A
PI 40 rPI
11920 2059 / 15 PI 41
rPr
3120 2001 / 15 0 48 rPS
9010 203C / B 33
rPt
9004 203C / 5 33 rrS
11105 2051 / 6 28
rSC
9643 2042 / 2C 26 rSF
7124 2029 / 19 46
rSL
11960 2059 / 3D ( ) 41 rtH
3231 2002 / 20 16
SA2
11801 2058 / 2 2 36 SA3
11802 2058 / 3 3 36
SCS
8001 2032 / 2 27 SdC1
10403 204A / 4 36
SdC2
10405 204A / 6 2 36 SdS
12001 205A / 2 USPL/USPH 25
SFr
3102 2001 / 3 27 SLL
7010 2028 / B Modbus SLF 47
SLP
9625 2042 / 1A 23
MN Modbus >? CANopen >? \] ãN
Code index
3-55
SLP2
9725 2043 / 1A 2 45
SMAL
8609 - 8610 6046 / 2 12
SMIL
8607 - 8608 6046 / 1 12 SP10
11418 2054 / 13 10 38
SP11
11419 2054 / 14 11 38 SP12
11420 2054 / 15 12 39
SP13
11421 2054 / 16 13 39 SP14
11422 2054 / 17 14 39
SP15
11423 2054 / 18 15 39 SP16
11424 2054 / 19 16 39
SP2
11410 2054 / B 2 38 SP3
11411 2054 / C 3 38
SP4
11412 2054 / D 4 38 SP5
11413 2054 / E 5 38
SP6
11414 2054 / F 6 38 SP7
11415 2054 / 10 7 38
SP8
11416 2054 / 11 8 38 SP9
11417 2054 / 12 9 38
SPAL
8611 - 8612 6048 / 1 - 12 SPAT
8613 6048 / 2 - 12
SPDL
8614 - 8615 6049 / 1 - 13 SPDT
8616 6049 / 2 - 13
SrF
9101 203D / 2 27 StA
9621 2042 / 16 23
StA2
9721 2043 / 16 2 45 StP
7004 2028 / 5 48
Str
11503 2055 / 4 40 Stt
11201 2052 / 2 34
tA1
9005 203C / 6
CUS - 33 tA2
9006 203C / 7
CUS - 33
tA3
9007 203C / 8
CUS - 33 tA4
9008 203C / 9
CUS - 33
tAr
7123 2029 / 18 46 tbr
6003 201E / 4 Modbus: 49
tCC
11101 2051 / 2
2 /3 28 tCt
11102 2051 / 3 28
tdC
11211 2052 / C 35 tdC1
10402 204A / 3 36
tdC2
10404 204A / 5 2 36 TDM
3210 2002 / B 16
tFO
6004 201E / 5 Modbus: 49 tFr
3103 2001 / 4 27
tHd
3209 2002 / A 16 tHr
9630 2042 / 1F 16
tLS
11701 2057 / 2 24 tnL
7012 2028 / D tnF 48
TSP
3401 2004 / 2 22 ttd
11002 2050 / 3 24
ttO
6005 201E / 6
Modbus: 49 tUn
9608 2042 / 9 26
tUS
9609 2042 / A 27 UdP
3302 2000 / 4 22
UFr
9623 2042 / 18
IR / 23 UFr2
9723 2043 / 18 2 IR / 44
UFt
9607 2042 / 8 / 27
MN Modbus >? CANopen >? \] ãN
Code index
3-56
UFt2
9707 2043 / 8 2 / 44
ULn
3207 2002 / 5 16
UnS
9601 2042 / 2 25 UnS2
9701 2043 / 2 ( 2) 43
USP
11501 2055 / 2 + ( ) 39 USPH
12003 205A / 4 - 17
USPL
12002 205A / 3 - 17 VCAL
3012 2000 / D 22
ZON
3010 2000 / B 22
MN Modbus >? CANopen >? \] ãN
Code index
= !"#$%&'() !"# 1954 !"#$%&' : 200030 : (021) 62831227 : (021) 62811847
!"EF !"# !"#$%&' 8 !"#1 17 : 100004 : (010) 65906907 : (010) 65900104
= !" !"# 319 !"#$ A 9 : 200051 : (021) 62351333 : (021) 62351238
= !" ! "# 403 !"#$%& 31 : 510095 : (020) 87320138 : (020) 87321929
= !" !"#$%& 15 1502 : 430033 : (027) 85712588 : (027) 85712688
= !" !"# 2 !" 17 A : 210016 : (025) 4814815 : (025) 4814816
= !" !"#$%& 111 !"#$ 12 : 530022 : (0771) 5519761/62 : (0771) 5519760
= !" !"#$ 59 !"#$ 24 C : 266071 : (0532) 5793001 : (0532) 5793002
= !" !"# 5047 !"#$%& 17 H : 518001 : (0755) 25841022/1488 : (0755) 82080250
= !" !"#$%& 68 !"#$% 2205 : 116001 : (0411) 2822690 : (0411) 2822692
= !" !"#$ 88 !" 12 D : 350005 : (0591) 7114853 : (0591) 7112046
= !" !"# 78 !" 4 : 310003 : (0571) 85271466 : (0571) 85271305
= !" !"#$%& 68 !"# 16 1603 : 400010 : (023) 63839700 : (023) 63839707
= !" !"# 30 !" # 306 : 710002 : (029) 87203222 : (029) 87203509/10
= !" !"#$%&125-127 ! 1710-1711 : 300074 : (022) 28408408 : (022) 28408410
= !" !"#$ 386 !" 1200 : 410007 : (0731) 5115858 : (0731) 5117878
= !" !"#$ 123 !"#$% 14 D : 650032 : (0871) 3647549/50/58/59 : (0871) 3647552
= !" ! 308 !" 27 B, C, D, E, F : 610017 : (028) 86528282 : (028) 86528383
= !"#$ !"#$%& 5 !"# 1112 : 830002 : (0991) 2825888-1112 : (0991) 2848188
= !" !"#$%& 219 !"#$ 16 G, H, I : 110015 : (024) 23964339 : (024) 23964296/97
= !" !"#$%&'()229 !"#$21D : 250012 : (0531) 6121715/25/35/45/55/65/95 : (0531) 6121628
= !" !"#$ 636 ! 1 303 : 215005 : (0512) 6522 1287 : (0512) 65221287
= !" !"#$ 1 !"#$%&' 833 : 315010 : (0574) 87716067 : (0574) 87724576
= !" !"#$ 1104 !"#$ 918 : 230011 : (0551) 4291993 : (0551) 4291993
= !" !"# 115 !"#$ 2 165 : 450003 : (0371) 5939211 : (0371) 5939213
= !"# !"#$%&'93 !"#$%&' 612 : 150036 : (0451) 82343219 : (0451) 82311103
= !" !"#$ 19 !"# 0601 : 361012 : (0592) 5048393/8701 : (0592) 5048208
= !"# !"#$% 303 !"#$%&'121201 : 050011 : (0311) 6698713 : (0311) 6698723
= !" !"# 343 !" 19 D, E, F : 214001 : (0510) 2752575 : (0510) 2755950
= !" !"#$ 2677 !""# 1211-1212 : 130061 : (0431) 8400302/03 : (0431) 8400301
= !" !"#$%& 1 !" 806 : 523070 : (0769) 2413010/20 : (0769) 2413160
= !" !"# 268 !" 1003 : 030002 : (0351) 4937186/4937025 : (0351) 4937029
= EF ! ! " 30 !"# 31 3108-28 : (00852) 25650621 : (00852) 28111029
!"#$%&
!"EF !"#
!"#$%&= !"#$%&' !"#$%&'( 76 !"#$% 12 : 100086 : (010) 62638210/11 : (010) 62638212
SC DOC xxx-xx 2004.03
!"#$%&'(
!"#$%&'
!"#$%&'( !"#$%&'()*+,-./0(
!"#$%& !"#$%
www.schneider-electric.com.cn
!"# 800 810 1315(010) 6788 8904