4) Issue the change of the state from 4 to 5 (normal rotation command) and a speed command. The speed
command loaded into vl_target_velocity (Byte2, 3) is 1800 r/min (=0x0708).
Receive PDO
(from master to inverter)
COB-ID
Byte0 Byte1 Byte2 Byte3
0x301
0 F 00 08 07
Thus, the inverter enters into running state and starts to accelerate to 1800 r/min. The lower byte of
Statusword (Byte0, 1) = 37 indicates that the state is 5. Also, since the value in the speed monitor
vl_control_effort (Byte2, 3) changes during the acceleration, the inverter transmits the data below
continuously until it reaches the speed.
Transmit PDO
(from inverter to master)
COB-ID Byte0 Byte1 Byte2 Byte3
0x281 37 02 ** **
5) To stop the inverter, change the state from 5 to 4.
Receive PDO
(from master to inverter)
COB-ID Byte0 Byte1 Byte2 Byte3
0x301 07 00 08 07
As shown above, the inverter decelerates. The lower byte of Statusword (Byte0, 1) = 33 indicates that the
state is 4. Also, since the value in the speed monitor vl_control_effort (Byte2, 3) changes during the
acceleration, the inverter transmits the data below continuously until it stops.
Transmit PDO
(from inverter to master)
COB-ID Byte0 Byte1 Byte2 Byte3
0x281 33 02 ** **
To Next Page
Loading...
